Presentation 2009-06-15
Shape Classification in Rotational Manipulation by Multi-Jointed Hand Equipped Distributed Tactile Sensor
Hiroyuki NAKAMOTO, Futoshi KOBAYASHI, Fumio KOJIMA, Nobuaki IMAMURA, Hidenori SHIRASAWA,
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Abstract(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.
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Keyword(in English) Multi-Jointed Hand / Shape Classification / Distributed Tactile Sensor
Paper # HIP2009-52
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Committee HIP
Conference Date 2009/6/8(1days)
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Language JPN
Title (in Japanese) (See Japanese page)
Sub Title (in Japanese) (See Japanese page)
Title (in English) Shape Classification in Rotational Manipulation by Multi-Jointed Hand Equipped Distributed Tactile Sensor
Sub Title (in English)
Keyword(1) Multi-Jointed Hand
Keyword(2) Shape Classification
Keyword(3) Distributed Tactile Sensor
1st Author's Name Hiroyuki NAKAMOTO
1st Author's Affiliation Hyogo Prefectural Institute of Technology()
2nd Author's Name Futoshi KOBAYASHI
2nd Author's Affiliation Kobe University
3rd Author's Name Fumio KOJIMA
3rd Author's Affiliation Kobe University
4th Author's Name Nobuaki IMAMURA
4th Author's Affiliation Hiroshima International University
5th Author's Name Hidenori SHIRASAWA
5th Author's Affiliation The Advanced Materials Processing Institute Kinki
Date 2009-06-15
Paper # HIP2009-52
Volume (vol) vol.109
Number (no) 83
Page pp.pp.-
#Pages 4
Date of Issue