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| Presentation | 2009-06-15 11:40 Shape Classification in Rotation Manipulation by Multi-Jointed Hand Equipped Distributed Tactile Sensor Hiroyuki Nakamoto (Hyogo Pref. Inst. of Tech.), Futoshi Kobayashi, Fumio Kojima (Kobe Univ.), Nobuaki Imamura (Hiroshima Int. Univ.), Hidenori Shirasawa (the Adv Materials Processing Inst Kinki Japan)  HIP2009-52 |
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| Abstract | (in Japanese) | (See Japanese page) |
| (in English) | We propose a shape classification method in continuous rotation manipulation by a multi-fingered robot hand. Our robot hand has five fingers equipped with tactile sensors. Our proposal classification method consists of the following processes: A kurtosis is calculated from each pressure distribution, and it quantifies the shape of the current contact surface. By rotating an object and measuring a time-series pressure distribution, the hand obtains a time-series kurtosis. An evaluated value is calculated from the time-series kurtosis and reference patterns using continuous dynamic programming (CDP) matching scheme. The contact shape is classified whether the evaluated value is lower than a given threshold. Experiments demonstrate the effectiveness of our proposal shape classification. | |
| Keyword | (in Japanese) | (See Japanese page) |
| (in English) | Multi-fingered Hand / Shape Classification / Distributed Tactile Sensor / / / / / | |
| Reference Info. | IEICE Tech. Rep., vol. 109, no. 83, HIP2009-52, pp. 23-26, June 2009. | |
| Paper # | HIP2009-52 | |
| Date of Issue | 2009-06-08 (HIP) | |
| ISSN | Print edition: ISSN 0913-5685 Online edition: ISSN 2432-6380 | |
| Copyright and reproduction |
All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034) | |
| Download PDF | HIP2009-52 |
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| Conference Information | |
| Committee | HIP |
| Conference Date | 2009-06-15 - 2009-06-16 |
| Place (in Japanese) | (See Japanese page) |
| Place (in English) | Hokkaido University |
| Topics (in Japanese) | (See Japanese page) |
| Topics (in English) | |
| Paper Information | |
| Registration To | HIP |
| Conference Code | 2009-06-HIP |
| Language | Japanese |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | Shape Classification in Rotation Manipulation by Multi-Jointed Hand Equipped Distributed Tactile Sensor |
| Sub Title (in English) | |
| Keyword(1) | Multi-fingered Hand |
| Keyword(2) | Shape Classification |
| Keyword(3) | Distributed Tactile Sensor |
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| 1st Author's Name | Hiroyuki Nakamoto |
| 1st Author's Affiliation | Hyogo Prefectural Institute of Technology (Hyogo Pref. Inst. of Tech.) |
| 2nd Author's Name | Futoshi Kobayashi |
| 2nd Author's Affiliation | Kobe University (Kobe Univ.) |
| 3rd Author's Name | Fumio Kojima |
| 3rd Author's Affiliation | Kobe University (Kobe Univ.) |
| 4th Author's Name | Nobuaki Imamura |
| 4th Author's Affiliation | Hiroshima International University (Hiroshima Int. Univ.) |
| 5th Author's Name | Hidenori Shirasawa |
| 5th Author's Affiliation | the Advanced Materials Processing Institute Kinki Japan (the Adv Materials Processing Inst Kinki Japan) |
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| Speaker | Author-1 |
| Date Time | 2009-06-15 11:40:00 |
| Presentation Time | 20 minutes |
| Registration for | HIP |
| Paper # | HIP2009-52 |
| Volume (vol) | vol.109 |
| Number (no) | no.83 |
| Page | pp.23-26 |
| #Pages | 4 |
| Date of Issue | 2009-06-08 (HIP) |
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