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Distributed manipulation with stick-slip contact
Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453), 2004Actuator arrays are planar arrangements of two degree-of-freedom actuators that cooperatively translate and orient objects for efficient manipulation. This paper derives the equations of motion for an object with the friction interface switching between slip and no-slip contact at each actuator. A controller derived from kinematics is presented and its
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Slip detection with distributed-type tactile sensor
2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566), 2005This paper describes development of a distributed-type tactile sensor. This sensor arranges many sensor elements that can measure a triaxial force on the same plane. Therefore, the action force can be measured with the pressure distribution. Since the relative movement of a sensor and a contacted object can be evaluated by measuring the pressure ...
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