A tactile sensor for the fingertips of the humanoid robot iCub

Alexander Schmitz, Marco Maggiali, Lorenzo Natale, Bruno Bonino, Giorgio Metta

研究成果: Conference contribution

63 被引用数 (Scopus)

抄録

In order to successfully perform object manipulation, humanoid robots must be equipped with tactile sensors. However, the limited space that is available in robotic fingers imposes severe design constraints. In [1] we presented a small prototype fingertip which incorporates a capacitive pressure system. This paper shows an improved version, which has been integrated on the hand of the humanoid robot iCub. The fingertip is 14.5 mm long and 13 mm wide. The capacitive pressure sensor system has 12 sensitive zones and includes the electronics to send the 12 measurements over a serial bus with only 4 wires. Each synthetic fingertip is shaped approximately like a human fingertip. Furthermore, an integral part of the capacitive sensor is soft silicone foam, and therefore the fingertip is compliant. We describe the structure of the fingertip, their integration on the humanoid robot iCub and present test results to show the characteristics of the sensor.

本文言語English
ホスト出版物のタイトルIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
ページ2212-2217
ページ数6
DOI
出版ステータスPublished - 2010 12 1
外部発表はい
イベント23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Taipei, Taiwan, Province of China
継続期間: 2010 10 182010 10 22

出版物シリーズ

名前IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings

Conference

Conference23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
CountryTaiwan, Province of China
CityTaipei
Period10/10/1810/10/22

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction
  • Control and Systems Engineering

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