Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 01, 2022 - June 04, 2022
We are developing a mobile manipulator with a small footprint that works in confined spaces such as a home kitchen or a small factory. To perform various tasks, the gripper of the mobile manipulator is equipped with a tactile image sensor using a camera. In this study, we developed a compact and lightweight tactile image sensor that can be mounted on a gripper. Through experiments, we have shown that this sensor is capable of estimating the shear force and determining the contact position. Also, we proposed a method to estimate the direction of door opening based on the direction of the shear force applied to the two fingers.
