階層式近接覚センサを備えたロボットハンドの把持動作過程における分布情報取得

抄録

In this paper, we use a novel optical proximity sensor for robot fingertips which provides two levels of proximity information with different purpose, sampling rate, information quantity and quality. The lower-level information from the sensor is for high-speed feedback control of a robotic hand, and the higher-level information is for recognizing the shape and size of an object. A motion experiment using a robotic hand equipped with the prototype sensors with 5 × 5 matrix of photo detectors is conducted. The result confirms that the robotic hand can adjust the position and orientation of the fingertips to various unknown objects and then correct the grasping form according to the object size.