SEARCH WITHIN CONTENT
Citation Information : International Journal on Smart Sensing and Intelligent Systems. Volume 3, Issue 3, Pages 359-375, DOI: https://doi.org/10.21307/ijssis-2017-397
License : (CC BY-NC-ND 4.0)
Published Online: 13-December-2017
This paper presents an analysis result of grasp-move-and-twist motions of robotic hands equipped with optical three-axis tactile sensor to evaluate performance of a new control algorithm based on tactile slippage sensation. The optical three-axis tactile sensor is capable of defining normal and shear forces simultaneously. The proposed algorithm consists of robot arm and hand controls based on parameters of normal and shear force, and slippage detection. To improve performance during grasp, move and twist motions, we present analysis of slippage direction and classify the control algorithm in two phases: grasp-move-release and grasp-twist. We present detailed explanation of the control algorithm based on the existing robot arm control system. The experiment is conducted using a bottle cap, and the analysis results show that the slippage control parameters enhanced performance of grasp control in simultaneous robot tasks. Experimental results revealed good performance of the proposed control algorithm to accomplish the proposed grasp-move-and-twist motions.
 T. Mouri and H. Kawasaki, “Anthropomorphic Robot Hand: Gifu Hand III”, in Proceedings of the International Conference on Control, Automation and System (ICCAS2002), pp. 1288-1293, Korea, 2009.
 T. Senoo, Y. Yamakawa, S. Mizusawa, A. Namiki, M. Ishikawa, and M. Shimojo, “Skillful Manipulation Based on High-speed Sensory-Motor Fusion”, of the 2009 IEEE International Conference on Robotics and Automation (ICRA2009), pp.1611-1612, Kobe, 2009.
 T. Mouri, H. Kawasaki and S. Ito, “Unknown Object Grasping Strategy Imitating Human Grasping Reflex for Anthropomorphic Robot Hand”, Journal of Advanced Mechanical Design, Systems, and Manufacturing, 1(1), pp. 1-11, JSME, 2007.
 M. Ohka, Y. Mitsuya, Y. Matsunaga and S. Takeuchi, “Sensing Characteristics of an Optical Three-Axis Tactile Sensor Under Combined Loading”, Robotica, vol.22, pp. 213-221, 2004.
 M. Ohka, H. Kobayashi and Y. Mitsuya, “Sensing Characteristic of an Optical Three-Axis Tactile Sensor Mounted on a Multi-Fingered Robotic Hand”, Proceedings of the 2005 IEEE International Conference on Intelligent Robots and Systems (IROS2005), pp. 1959-1964.
 H. Yussof, M. Ohka, H. Kobayashi, J. Takata, M. Yamano, Y. Nasu, “Development of an Optical Three-axis Tactile Sensor for Object Handling Tasks in Humanoid Robot Navigation System,” Studies in Computational Intelligence, vol. 76, pp. 43-51, 2007.
 H. Yussof, J. Wada, M. Ohka, “Object Handling Tasks Based on Active Tactile and Slippage Sensation in a Multi-Fingered Humanoid Robot Arm,” Proceedings of the 2009 IEEE International Conference on Robotics and Automation (ICRA2009), pp. 502-507,
Kobe, Japan, May 12-17, 2009.
 H. Yussof, J. Wada, M. Ohka, “Grasp Synthesis Based on Tactile Sensation in Robot Manipulation of Arbitrary Located Object,” Proceeding of the ASME/IEEE 2009 International Conference on Advanced Intelligent Mechatronics (AIM2009), pp. 560-565,Singapore, July 14-17, 2009.
 H. Shinoda and S. Ando, “A Tactile Sensor with 5-D Deformation Sensing Element,”Proceedings of the 1996 IEEE International Conference on Robotics and Automation (ICRA1996), pp. 7-12, 1996.
 J. Jockush, J. Walter and H. Ritter, “A Tactile Sensor System for a Three-Fingered Robot Manipulator,” Proceedings of the 1997 IEEE International Conference on Robotics and Automation (ICRA1997), pp. 3080-3086, 1997.
 E. Holweg, H. Hoeve, W. Jongkind, L. Marconi, C. Melchiorri and C. Bonivento, “ Slip Detection by Tactile Sensors: Algorithm and Experimental Results,” Proceedings of the 1996 IEEE Int. Conf. on Robotics and Automation (ICRA1996), pp. 3234-3239, 1996.
 H. Maekawa, K. Tanie and K. Komoriya, “Tactile Sensor Based Manipulation of an Unknown Object by a Multifingered hand with Rolling Contact,” Proceedings of the 1995 IEEE Int. Conference on Robotics and Automation (ICRA1995), pp. 743-750, 1995.
 N. I. Glossas and N. A. Aspragathos, “Fuzzy Logic Grasp Control Using Tactile Sensors,”Journal Mechatronics, vol. 11, issue 7, pp. 899-920, 2001.