Identification and Pose Estimation of a Stick-like Object by a Tactile Sensor System for a Robot Hand

抄録

This paper describes a tactile sensor system that is aimed to be equipped on a robot hand. The proposed system consists of four pressure-sensitive sensors and a plastic board. A board with four foots is placed on the sensors. Stick-like objects are our target, and we aim to estimate object type and its grasped direction. In the estimation phase, pre-generated two discriminative functions output the two classification results. The experimental results show that the proposed system has a value as a sensor suitable to be embedded in a palm of a robot hand.