Human assist by a mobile manipulator with high speed tactile sensor

2010 ◽  
Author(s):  
Hisashi Yamaguchi ◽  
Zhaoxian Xie ◽  
Aiguo Ming ◽  
Makoto Shimojo
Keyword(s):  
High Speed ◽  
Tactile Sensor ◽  
Mobile Manipulator

STAND-UP MOTION SUPPORT BY A MOBILE MANIPULATOR SYSTEM WITH HIGH SPEED TACTILE SENSORS

2011 ◽  
Vol 08 (03) ◽  
pp. 181-195
Author(s):  
ZHAOXIAN XIE ◽  
HISASHI YAMAGUCHI ◽  
MASAHITO TSUKANO ◽  
AIGUO MING ◽  
MAKOTO SHIMOJO
Keyword(s):  
Fuzzy Logic ◽  
Feedback Control ◽  
Experimental Verification ◽  
High Speed ◽  
Center Of Pressure ◽  
Tactile Sensor ◽  
Mobile Manipulator ◽  
Tactile Sensing ◽  
Robot Arm ◽  
Tactile Sensors

As one of the home services by a mobile manipulator system, we are aiming at the realization of the stand-up motion support for elderly people. This work is charaterized by the use of real-time feedback control based on the information from high speed tactile sensors for detecting the contact force as well as its center of pressure between the assisted human and the robot arm. First, this paper introduces the design of the tactile sensor as well as initial experimental results to show the feasibility of the proposed system. Moreover, several fundamental tactile sensing-based motion controllers necessary for the stand-up motion support and their experimental verification are presented. Finally, an assist trajectory generation method for the stand-up motion support by integrating fuzzy logic with tactile sensing is proposed and demonstrated experimentally.

A High-Speed Tactile Sensor for Slip Detection

2012 ◽  
pp. 403-415 ◽  
Author(s):  
Carsten Schürmann ◽  
Matthias Schöpfer ◽  
Robert Haschke ◽  
Helge Ritter
Keyword(s):  
High Speed ◽  
Tactile Sensor ◽  
Slip Detection

A modular high-speed tactile sensor for human manipulation research

2011 ◽  
Author(s):  
Carsten Schurmann ◽  
Risto K~oiva ◽  
Robert Haschke ◽  
Helge Ritter
Keyword(s):  
High Speed ◽  
Tactile Sensor

High-speed sensing of softness during grasping process by robot hand equipped with tactile sensor

2015 ◽  
Author(s):  
Yugo Katsuki ◽  
Yuji Yamakawa ◽  
Masatoshi Ishikawa ◽  
Makoto Shimojo
Keyword(s):  
High Speed ◽  
Tactile Sensor ◽  
Robot Hand

Dynamic Modeling of a Non-Redundant Spatial Mobile Manipulator

2001 ◽  
Author(s):  
James M. Stiles ◽  
Jae H. Chung ◽  
Steven A. Velinsky
Keyword(s):  
High Speed ◽  
Robot Manipulator ◽  
Equations Of Motion ◽  
Three Dimensional ◽  
High Mobility ◽  
Mobile Manipulator ◽  
Mobile Manipulators ◽  
Mobile Platforms ◽  
Wheel Slip ◽  
Kinematic Models

Abstract Mobile manipulators are comprised of robot manipulators mounted upon mobile platforms which allow for both high mobility and dexterous manipulation ability. Although much research has been performed in the area of motion control of mobile manipulators, previous developed models are typically simplified and assume only planar motion and/or holonomic constraints. In this work, the equations of motion of a three dimensional non-redundant wheeled-vehicle based mobile manipulator system are developed using a Newton-Euler formulation. This model incorporates a complex tire model which accounts for tire slip and is thus applicable to high speed and high load applications. The model is systematically exercised to examine the dynamic interaction effects between the mobile platform and the robot manipulator, to illustrate the effects of wheel slip on system performance, and to establish bounds on the efficacy of the simplified existing kinematic models.

MANIPULATION OF A MOBILE MODULAR MANIPULATOR INTERACTING WITH THE ENVIRONMENT WITH THE ASSISTANCE OF TACTILE SENSING FEEDBACK

2011 ◽  
Vol 08 (04) ◽  
pp. 777-793 ◽  
Author(s):  
JINGGUO WANG ◽  
YANGMIN LI
Keyword(s):  
Control Method ◽  
Hybrid Control ◽  
Tactile Sensor ◽  
Dynamic Equations ◽  
Mobile Manipulator ◽  
Force Sensing ◽  
Tactile Sensing ◽  
End Effector ◽  
Feedback Information ◽  
Crucial Information

Since tactile sensing feedback can provide very useful and crucial information to the problems of contact, it can be widely applied in the control of the mobile manipulator in case of contacting with the complex or unknown environments. This paper presents a control method for a mobile modular manipulator (MMM) interacting with the environment, in which the feedback does not only include the force-sensing feedback but also the tactile sensing feedback. In order to detect the feedback information from the environment, a kind of tactile sensor is mounted at the tip of the end-effector of the MMM. The dynamic equations of the whole system are formulated and the hybrid control method is designed after several tactile sensing-assisted strategies are considered. A mobile manipulator is built up to make real experiments and the results validate the proposed methods.

Sign in / Sign up

Export Citation Format

Share Document