Magnetic 3-Axis Soft and Sensitive Fingertip Sensors Integration for the iCub Humanoid Robot

Alexis C. Holgado, Nicola Piga, Tito Pradhono Tomo, Giulia Vezzani, Alexander Schmitz, Lorenzo Natale, Shigeki Sugano

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

The humanoid robot iCub is currently equipped with an array of capacitive sensors that provide pressure information throughout the body of the robot. Even though for some applications this type of data is sufficient, it is not always the case for the fingertips of the robot. In particular, the current sensors do not provide enough information for performing agile manipulation, where both intensity and direction of the exerted force on the fingertips are relevant for the proper execution of the task. In this paper, we present a single 3-Axis small magnetic sensor module and we show its effectiveness when integrated into the fingertips of the iCub. The sensor module is derived from uSkin, presented in previous works from our laboratory. Replaceable fingertips were designed, built and integrated via software into the low level communication network of the robot, providing fast 3D information about the contact between the fingertips and objects. Additionally, we present two experiments demonstrating tasks that would not be possible to perform with the current fingertip sensors.

本文言語English
ホスト出版物のタイトル2019 IEEE-RAS 19th International Conference on Humanoid Robots, Humanoids 2019
出版社IEEE Computer Society
ページ328-335
ページ数8
ISBN(電子版)9781538676301
DOI
出版ステータスPublished - 2019 10
イベント19th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2019 - Toronto, Canada
継続期間: 2019 10 152019 10 17

出版物シリーズ

名前IEEE-RAS International Conference on Humanoid Robots
2019-October
ISSN(印刷版)2164-0572
ISSN(電子版)2164-0580

Conference

Conference19th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2019
国/地域Canada
CityToronto
Period19/10/1519/10/17

ASJC Scopus subject areas

  • 人工知能
  • コンピュータ ビジョンおよびパターン認識
  • ハードウェアとアーキテクチャ
  • 人間とコンピュータの相互作用
  • 電子工学および電気工学

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