Comparison of contact sensor localization abilities during manipulation Export

@article{Son_95, abstract = {This paper presents an experimental comparison of tactile array versus force-torque sensing for localizing contact during manipulation. The manipulation tasks involved rotating and translating objects using a planar two fingered manipulator. A pin and a box were selected as limiting cases of point and line contact against a cylindrical robot finger tip. Force-torque contact sensing results suffered from difficulties in calibration, transient forces, and low grasp force. Tactile array sensing was immune to these problems, and the effect of shear loading was only noticeable for a simple centroid algorithm. The results show that with care, both of these sensing schemes can determine the contact location within a millimeter during real manipulation tasks.}, address = {Los Alamitos, CA, USA}, author = {Son, J. and Cutkosky, M. and Howe, R.}, citeulike-article-id = {6067040}, citeulike-linkout-0 = {http://doi.ieeecomputersociety.org/10.1109/IROS.1995.526145}, citeulike-linkout-1 = {http://dx.doi.org/10.1109/IROS.1995.526145}, doi = {10.1109/IROS.1995.526145}, isbn = {0-8186-7108-4}, journal = {Intelligent Robots and Systems, IEEE/RSJ International Conference on}, keywords = {control, grasping}, month = {August}, pages = {96--101}, posted-at = {2009-11-04 09:00:00}, priority = {2}, publisher = {IEEE Computer Society}, title = {Comparison of contact sensor localization abilities during manipulation}, url = {http://dx.doi.org/10.1109/IROS.1995.526145}, volume = {2}, year = {1995} }

TY - JOUR ID - Son_95 L3 - citeulike-article-id:6067040 N2 - This paper presents an experimental comparison of tactile array versus force-torque sensing for localizing contact during manipulation. The manipulation tasks involved rotating and translating objects using a planar two fingered manipulator. A pin and a box were selected as limiting cases of point and line contact against a cylindrical robot finger tip. Force-torque contact sensing results suffered from difficulties in calibration, transient forces, and low grasp force. Tactile array sensing was immune to these problems, and the effect of shear loading was only noticeable for a simple centroid algorithm. The results show that with care, both of these sensing schemes can determine the contact location within a millimeter during real manipulation tasks. JF - Intelligent Robots and Systems, IEEE/RSJ International Conference on SN - 0-8186-7108-4 AD - Los Alamitos, CA, USA EP - 101 TI - Comparison of contact sensor localization abilities during manipulation PB - IEEE Computer Society VL - 2 SP - 96 KW - control KW - grasping AU - Son, J AU - Cutkosky, M AU - Howe, R PY - 1995/08// UR - http://dx.doi.org/10.1109/IROS.1995.526145 ER -