Model of tactile sensors using soft contacts and its application in robot grasping simulation
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Otros documentos de la autoría: Moisio, Sami; León Pinzón, Beatriz Elena; Korkealaakso, Pasi; Morales, Antonio
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Mostrar el registro completo del ítemcomunitat-uji-handle:10234/9
comunitat-uji-handle2:10234/7036
comunitat-uji-handle3:10234/8620
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Título
Model of tactile sensors using soft contacts and its application in robot grasping simulationFecha de publicación
2013-01Editor
ElsevierCita bibliográfica
MOISIO, Sami, et al. Model of tactile sensors using soft contacts and its application in robot grasping simulation. Robotics and Autonomous Systems, 2013, 61.1: 1-12.Tipo de documento
info:eu-repo/semantics/articleVersión de la editorial
http://www.sciencedirect.com/science/article/pii/S0921889012001911Palabras clave / Materias
Resumen
In the context of robot grasping and manipulation, realistic dynamic simulation requires accurate modeling of contacts between bodies and, in a practical level, accurate simulation of touch sensors. This paper addresses ... [+]
In the context of robot grasping and manipulation, realistic dynamic simulation requires accurate modeling of contacts between bodies and, in a practical level, accurate simulation of touch sensors. This paper addresses the problem of creating a simulation of a tactile sensor as well as its implementation in a simulation environment. The simulated tactile sensor model utilizes collision detection and response methods using soft contacts as well as a full friction description. The tactile element is created based on a geometry enabling the creation of a variety of different shape tactile sensors. The tactile sensor element can be used to detect touch against triangularized geometries. This independence in shape enables the use of the sensor model for various applications, ranging from regular tactile sensors to more complex geometries as the human hand which makes it possible to explore human-like touch. The developed tactile sensor model is implemented within OpenGRASP and is available in the open-source plugin. The model has been validated through several experiments ranging from physical properties verification to testing on robot grasping applications. This simulated sensor can provide researchers with a valuable tool for robotic grasping research, especially in cases where the real sensors are not accurate enough yet. [-]
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Robotics and Autonomous Systems Volume 61, Issue 1, January 2013Derechos de acceso
http://rightsstatements.org/vocab/CNE/1.0/
info:eu-repo/semantics/openAccess
info:eu-repo/semantics/openAccess
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