Development of a full body multi-axis soft tactile sensor suit for life sized humanoid robot and an algorithm to detect contact states

2012 ◽  
Author(s):  
Iori Kumagai ◽  
Kazuya Kobayashi ◽  
Shunichi Nozawa ◽  
Yohei Kakiuchi ◽  
Tomoaki Yoshikai ◽  
...  
Keyword(s):  
Humanoid Robot ◽  
Tactile Sensor ◽  
Full Body

Sensor-Based Integration of Full-Body Object Manipulation Based on Strategy Selection in a Life-Sized Humanoid Robot

2011 ◽  
Vol 23 (2) ◽  
pp. 239-248 ◽  
Author(s):  
Shunichi Nozawa ◽  
◽  
Ryohei Ueda ◽  
Yohei Kakiuchi ◽  
Kei Okada ◽  
...  
Keyword(s):  
Humanoid Robot ◽  
The Novel ◽  
Motion Generation ◽  
Multiple Strategies ◽  
Contact Points ◽  
Different Types ◽  
Reaction Forces ◽  
Novel Method ◽  
Manipulation Strategy ◽  
Full Body

The novel method we propose involves a humanoid robot manipulating objects of varying size and weight. How an object is manipulated is generally determined by size and weight. The motion generation system we developed 1) utilizes manipulation strategies defined by which contact points on the robot are to be used, 2) selects the adequate manipulation strategy based on the object, and 3) generates a full-body posture sequence for the humanoid robot with controlled reaction forces and full-body balance using the manipulation strategy as an initial condition. Our system enables the robot to manipulate an object of weight thanks to multiple strategies. Our method’s effectiveness is confirmed in experiments in which a humanoid robot manipulates six different types of objects.

1A1-A02 Development of humanoid robot with whole body distributed tactile sensor

2007 ◽  
Vol 2007 (0) ◽  
pp. _1A1-A02_1-_1A1-A02_4 ◽  
Author(s):  
Yoshiyuki OHMURA ◽  
Akihiko Nagakubo ◽  
Yasuo Kuniyoshi
Keyword(s):  
Humanoid Robot ◽  
Tactile Sensor ◽  
Whole Body

scholarly journals Tactile Object Recognition for Humanoid Robots Using New Designed Piezoresistive Tactile Sensor and DCNN

Sensors ◽  
2021 ◽  
Vol 21 (18) ◽  
pp. 6024
Author(s):  
Somchai Pohtongkam ◽  
Jakkree Srinonchat
Keyword(s):  
Object Recognition ◽  
Humanoid Robot ◽  
Sensor Array ◽  
Recognition Rate ◽  
Tactile Sensor ◽  
Humanoid Robots ◽  
Superior Performance ◽  
Robot Hand ◽  
Sensing Element ◽  
Tactile Sensor Array

A tactile sensor array is a crucial component for applying physical sensors to a humanoid robot. This work focused on developing a palm-size tactile sensor array (56.0 mm × 56.0 mm) to apply object recognition for the humanoid robot hand. This sensor was based on a PCB technology operating with the piezoresistive principle. A conductive polymer composites sheet was used as a sensing element and the matrix array of this sensor was 16 × 16 pixels. The sensitivity of this sensor was evaluated and the sensor was installed on the robot hand. The tactile images, with resolution enhancement using bicubic interpolation obtained from 20 classes, were used to train and test 19 different DCNNs. InceptionResNetV2 provided superior performance with 91.82% accuracy. However, using the multimodal learning method that included InceptionResNetV2 and XceptionNet, the highest recognition rate of 92.73% was achieved. Moreover, this recognition rate improved when the object exploration was applied to demonstrate.

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