イベントベースカメラを用いた分布型触覚センサのロボットハンドへの適用

抄録

Conventional optical tactile sensors using frame based cameras have difficulty in obtaining high temporal resolution since the time resolution of them depends on the frame rate of the camera used. We propose an optical distribution tactile sensor with high temporal and spatial resolution by using an event-based camera that outputs stream of events occurred by luminous change based on an asynchronous address-event method. The sensor measures the motion vector of its surface from the camera response of the checkerboard pattern. We measure when object is gripped and pressed using a robot hand.