촉각센서의 행위 기반 제어
Control of Behavior-based for Tactile Sensor
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초록
In the case of the visually impaired, in order to pick up an object, the entire shape is grasped while straddling the object first. When we grasp the characteristics of the object sufficiently by using the tactilesense of the hand, we touch the point which is the center of gravity and listen to the object once. When you want to perform object-graping with only the tactile sense under the conditions of other senses, such as vision, a series of actions is repeated. This paper deals with the behavior based control study of the robot hand usingthe tactile sense and applied to the 4 DOF hand developed by our laboratory by evolving the subsumption architecture (SA) proposed by R.Brooks.
Abstract
In the case of the visually impaired, in order to pick up an object, the entire shape is grasped while straddling the object first. When we grasp the characteristics of the object sufficiently by using the tactilesense of the hand, we touch the point which is the center of gravity and listen to the object once. When you want to perform object-graping with only the tactile sense under the conditions of other senses, such as vision, a series of actions is repeated. This paper deals with the behavior based control study of the robot hand usingthe tactile sense and applied to the 4 DOF hand developed by our laboratory by evolving the subsumption architecture (SA) proposed by R.Brooks.
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