Achivement of a Response to Contact States During Object Passing Action of the Life Sized Humanoid with a Multi-axis Soft Tactile Sensor Cover

• Kumagai Iori

  The University of Tokyo, Graduate School of Information Science and Technology

• Kobayashi Kazuya

  The University of Tokyo, Graduate School of Information Science and Technology

• Nozawa Shunnichi

  The University of Tokyo, Graduate School of Information Science and Technology

• Kakiuchi Yohei

  The University of Tokyo, Graduate School of Information Science and Technology

• Yoshikai Tomoaki

  The University of Tokyo, Graduate School of Information Science and Technology

• Okada Kei

  The University of Tokyo, Graduate School of Information Science and Technology

• Inaba Masayuki

  The University of Tokyo, Graduate School of Information Science and Technology

Bibliographic Information

Other Title

• 柔軟変形多軸触覚を分散配置した等身大ヒューマノイド用外装による物体受渡作用の検知反応行動の実現

Abstract

When a humanoid robot works with a human, it is needed for the robot to pass and receive objects. The robot has to detect that the laden objects are operated by the human on the whole body in object passing tasks. It is important that the robot detects not only push but shear generated by pulling action and twist generated by rotating action for the robot to detect human operations. In this paper, we dispersedly arranged 347 multi-axis soft tactile sensors to a humanoid robot. The multi-axis soft tactile sensors are small muti-axis sensors with urethane structure and they can be placed densely on body of a humanoid. We calculate a deformation vector from the deformation of sensor's upper surface using the output of a muti-axis soft tactile sensor. Next, we suggest the method to detect deformation state in contact surface consisting of soft tactile sensors using deformation moment and average of deformation vectors in the contact surface. Finally, we confirmed the usefulness of the fullbody tactile sensor cover and contact state detector by object passing experiment between a human and a robot.

Journal

• Journal of the Robotics Society of Japan

  Journal of the Robotics Society of Japan 31 (10), 985-991, 2013

  The Robotics Society of Japan

Keywords

• Humanoid
• Tactile Sensor
• Soft Exterior
• Contact State

Details

• CRID: 1390282679706555008
• NII Article ID: 130003396228
• DOI: 10.7210/jrsj.31.985
• ISSN: 18847145
• ISSN: 02891824
• Text Lang: ja
• Data Source:
  • JaLC
  • Crossref
  • CiNii Articles
• Abstract License Flag: Disallowed