Multi-contact Recognition with Genetic Algorithm for Universal Robot Hand

Abstract

Array-type tactile sensor is important for manipulating objects dexterously with a robotic hand. We have developed Universal Robot Hand with tactile sensors and other sensors, and proposed the genetic based tactile measurement in order to measure the tactile information efficiently. However, multi-contact condition can not be recognized with this method. This paper proposes a multi-contact recognition method with array-type tactile sensor for multiple objects manipulation. The validity of the proposed method shows through some experiments.