仿人机器人iCub指尖触觉电容传感器的改进

A. Ascia, M. Biso, A. Ansaldo, A. Schmitz, D. Ricci, L. Natale, G. Metta, G. Sandini
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引用次数: 3

摘要

人形机器人使用触觉指尖来执行物体操作。本文介绍了一种用于仿人机器人iCub的触觉电容式指尖的改进原型。特别是,导电硅基材料已被用于改善电容式传感器的特性,并且在传感器架构中还引入了额外的硅树脂泡沫层,以防止由于指尖退化(例如,由物体操作引起的)而导致的行为变化。提出了指尖传感行为的表征。这项工作由欧盟委员会资助,作为ICT-FP7-231500 RoboSKIN项目的一部分。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Improvement of tactile capacitive sensors of the humanoid robot iCub's fingertips
Humanoid robots use tactile fingertips to perform object manipulation. In this paper, an improved prototype of a tactile capacitive fingertip for the hands of the humanoid robot iCub is presented. In particular, a conductive silicone based material has been used to improve the characteristics of the capacitive sensor and an additional silicone foam layer has been also introduced in the sensor architecture to prevent behavior variation due to fingertip deterioration (e.g., caused by object manipulation). A characterization of the fingertip sensing behavior is presented. This work is funded by the European Commission as part of the project ICT-FP7-231500 RoboSKIN.
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