JACIII Vol.13 No.3 pp. 178-184
doi: 10.20965/jaciii.2009.p0178


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

November 25, 2008
February 9, 2009
May 20, 2009
shape classification, tactile sensor, multi-fingered robot hand

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.

Cite this article as:
Hiroyuki Nakamoto, Futoshi Kobayashi,
Nobuaki Imamura, Hidenori Shirasawa, and
and Fumio Kojima, “Shape Classification in Continuous Rotation Manipulation by Universal Robot Hand,” J. Adv. Comput. Intell. Intell. Inform., Vol.13, No.3, pp. 178-184, 2009.
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