Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm

Session WedET10 Lince Wednesday, October 10, 2012, 15:00–16:00
Multifingered Hands
Chair Jianwei Zhang, Univ. of Hamburg
Co-Chair
15:00–15:15 WedET10.1
Tactile Sensor Based Varying Contact Point
Manipulation Strategy for Dexterous Robot Hand
Manipulating Unknown Objects
Yuan-Fei Zhang
State Key Laboratory of Robotics and System, HIT, China
Hong Liu
Institute of Robotics and Mechatronics, DLR, Germany
• A tactile sensor based varying contact
point manipulation strategy is proposed;
• This strategy utilizes the simple
mathematical models based on the
assumption of fixed contact points;
• This strategy is proposed to manipulate
unknown objects with rolling contact for
dexterous robot hand;
• Experimental results show that the
strategy can effectively improve the
manipulation performance.
Experimental results of dexterous
robot hand manipulating
unknown objects
15:30–15:45 WedET10.3
Action Gist Based Automatic Segmentation for
Periodic In-hand Manipulation Movement Learning
Gang Cheng, Norman Hendrich and Jianwei Zhang
Department of Informatics, University of Hamburg, Germany
• A short introduction to the techniques of
in-hand manipulation action gist
• Based on the action gist extraction, a
segmentation algorithm is proposed
• The possibility of fusing the segmentation
result with tactile information is discussed
• Experiments are taken with respect to
some practical cases, and then follows the
corresponding analysis
Periodic In-hand
manipulation movement
Data-glove Tactile Sensor
Action gist
techniques
Segmentation 1
Segmentation 2
Overall Segmentation
15:15–15:30 WedET10.2
Card Manipulation using a High-speed Robot System
with High-speed Visual Feedback
Yuji Yamakawa and Masatoshi Ishikawa
Dept. of Creative Informatics, Univ. of Tokyo, Japan
Akio Namiki
Dept. of Mechanical Engineering, Chiba Univ., Japan
• We performed card flicking and card
catching by using a high-speed robot
system.
• Card flicking was carried out by using the
strain energy occurring with card
deformation. And, we proposed a strategy
(utilizing finger vibration) for flicking the
card.
• we suggested a high-speed visual
feedback control method in order to catch
the card flicked by the robot hand.
• We analyzed the slip condition and the
transition from the strain energy to the
kinetic energy during card flicking.
2012 IEEE/RSJ International Conference on Intelligent Robots and Systems
–169–
Card flicking
15:45–16:00 WedET10.4
Development of a Low Cost Anthropomorphic
Robot Hand with High Capability
Ji-Hun Bae, Sung-Woo Park, Jae-Han Park, Moon-Hong Baeg
Robot Convergence R&D Group, KITECH, Korea
Doik Kim and Sang-Rok Oh
Interaction and Robotics Research Center, KIST, Korea
• Portable adaptive four-fingered robot hand
• Light-weight anthropomorphic design
• Back-drivable joint for compliant contact
with objects
• Capable of handling objects up to 1.5kg
• Modular type structure for easy repair and
modification
• Low cost less than 10 thousand dollars
KITECH Robotic Hand