Acquisition of multi-modal expression of slip through pick-up experiences

Authors: Tada, Yasunori1; Hosoda, Koh2

Source: Advanced Robotics, Volume 21, Numbers 5-6, 2007 , pp. 601-617(17)

Publisher: Taylor and Francis Ltd

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Abstract:

To realize adaptive and robust manipulation, a robot should have several sensing modalities and coordinate their outputs to achieve the given task based on underlying constraints in the real environment. This paper discusses acquisition of multi-modal expression of slip consisting of vibration, pressure and vision sensations through pick-up experiences. A sensor network is proposed to acquire the expression, whose learning ability is demonstrated by a real experiment. The applicability of the learned network is also demonstrated by experiments to realize robust and adaptive picking.

Keywords: ADAPTIVE MANIPULATION; EXPRESSION OF SLIP; MULTI-MODAL SENSING; TACTILE SENSOR

Document Type: Research Article

DOI: http://dx.doi.org/10.1163/156855307780108213

Affiliations: 1: Department of Adaptive Machine Systems, Osaka University, 2-1 Yamadaoka, Suita, Osaka 565-0871, Japan 2: Department of Adaptive Machine Systems, HANDAI FRC, Osaka University, 2-1 Yamadaoka, Suita, Osaka 565-0871, Japan

Publication date: May 1, 2007

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