Development of an Optical Sensor Capable of Measuring Distance, Tilt, and Contact Force

Takahiro Nozaki, Hermano Krebs

研究成果: Article査読

抄録

Depth, proximity and tactile sensors are often used in robotic object manipulation. The three types of sensors are combined to address each sensor limitation: depth use is limited by blind spots and measurable range, proximity sensor is limited to millimetric distances, and the tactile sensor requires direct contact with the object. Here we present a novel sensor that can simultaneously measure millimetric distance and surface tilt, as well as contact force. We demonstrated the advantage of this novel sensor during a contact task. There, we implemented an admittance control and succeeded in achieving smooth transition from zero- to infinite-impedance contact condition and vice-versa. This novel sensor affords the realization of advanced interactions between robot and objects and contrary to previous approaches - limited by distance, blind spots, and impact force during initial contact - demonstrated good performance at all times with smooth and continuous measurements during contact.

本文言語English
ジャーナルIEEE Transactions on Industrial Electronics
DOI
出版ステータスAccepted/In press - 2021

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 電子工学および電気工学

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