2304 三軸触覚センサと視覚センサによる表面状態の識別(J23-1 メカニカルシステムとその知能化(1),J23 メカニカルシステムとその知能化,2005年度年次大会)

抄録

An optical three-axis tactile sensor is comprised of a silicone-rubber sheet, an acrylic plate, a CCD camera and a light source. A silicone-rubber sheet has an array of 8×9 sensor cells consisting of a columnar feeler and conical feelers. In the previous paper, the authors proposed a new sensing element which has a columnar feeler and 8 conical feelers and formulated a set of equations which could evaluate normal and shearing forces from integrated gray scale value and centroid displacement caused by conical feeler's contacts. In the present paper, we attempt to enhance precision of shearing force detection and to develop a method for data fusion of tactile and visual image using FFT analysis because we intend to perform surface texture recognition of a robot equipped with the present tactile sensor and a vision sensor, In the former attempt, since it is found that the sensitivity of shearing force depends on applied normal force, a modified equation is formulated. In the latter attempt, Fourier transformation is applied to both tactile and visual image to enhance quality of obtained surface texture data and to obtain physical properties which can not obtained by a single sensor.