滑り動作による未知物体表面形状の触覚センシング

抄録

This paper experimentally implements tactile sensing of shapes of unknown surfaces with sliding motion. Sliding motion is described by an algorithm and realized by a hybrid position and force scheme. A miniature finger-tip tactile sensor is fixed at the end of a two-link finger to measure the contact force and moment. With the contact force, moment and joint angle information, the contact position, surface normal are calcu-lated. The surface normal is utilized to restrain the deviation of finger from the surface during the surface following. Experimental results show the tactile sensing with sliding motion works well for a line, a concave arc, and a convex arc. Experimental results also show the sliding motion works well at different force levels and different speeds. Therefore tactile sensing with sliding motion can perceive a surface whose shape is not known a priori.