Shape Classification in Continuous Rotation Manipulation by Universal Robot Hand
Hiroyuki Nakamoto*,**, Futoshi Kobayashi**,
Nobuaki Imamura***, Hidenori Shirasawa****,
and Fumio Kojima**
*Hyogo Prefectural Institute of Technology, 3-1-12 Yukihira-cho, Suma-ku, Kobe 654-0037, Japan
**Kobe University, 1-1 Rokkodai-cho, Nada-ku, Kobe 657-8501, Japan
***Hiroshima International University, 5-1-1 Hirokoshingai, Kure 737-0112, Japan
****The Advanced Materials Processing Institute Kinki Japan, 7-1-8 Doi-cho, Amagasaki 660-0807, Japan
We propose a shape classification method in continuous rotation manipulation by a multi-fingered robot hand. Our robot hand has five fingers equipped with tactile sensors. Each tactile sensor can measure a pressure distribution once every 10 ms while the robot hand rotates an object continuously. Our proposal classification method consists of the following processes: A kurtosis is calculated from each pressure distribution, and it quantifies the shape of the current contact surface. By rotating an object and measuring a time-series pressure distribution, the hand obtains a time-series kurtosis. An evaluated value is calculated from the time-series kurtosis and reference patterns using continuous dynamic programming (CDP) matching scheme. The contact shape is classified whether the evaluated value is lower than a given threshold. Experiments demonstrate the effectiveness of our proposal shape classification.
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