Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : May 10, 2017 - May 13, 2017
In the previous research, a method to correct on grasping position/posture error on a vision sensor was proposed in grasping tasks with a robotic hand using a proximity sensor mounted on each of the fingertips. However, depending on color and shape of an object and surrounding environment, a position/posture suitable for grasping may not be achieved in some cases. Therefore, in this research, we develop a hierarchical information processing sensor system integrating a processing system that extracts only limited information from the proximity sensor output at high speed and a processing system capable of analyzing a lot of information although it takes time. It is expected that a feedback action itself and the subsequent grasping action can be appropriately made according to an object and surrounding environment from the information obtained in a process while performing the conventional feedback.
