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 Japanese) | (See Japanese page) |
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. |
Keyword(in Japanese) | (See Japanese page) |
Keyword(in English) | Multi-Jointed Hand / Shape Classification / Distributed Tactile Sensor |
Paper # | HIP2009-52 |
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Conference Information | |
Committee | HIP |
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Conference Date | 2009/6/8(1days) |
Place (in Japanese) | (See Japanese page) |
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Registration To | Human Information Processing (HIP) |
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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 |