Tactile analysis and modeling of dextrous robotic hand

被引：0

作者：

State Key Laboratory of Intelligent Technology and Systems, Department of Computer Science and Technology, Tsinghua University, Beijing 100084, China ^{[1
]}

机构：

[1] State Key Laboratory of Intelligent Technology and Systems, Department of Computer Science and Technology, Tsinghua University

来源：

Jiqiren | 2013年 / 4卷 / 394-401期

关键词：

Bag of model; Dextrous robotic hand; Fine operation; Linear dynamic system; Tactile;

D O I：

10.3724/SP.J.1218.2013.00394

中图分类号：

学科分类号：

摘要：

In order to achieve fine operation of dextrous robotic hand, the features of tactile data time-series of dextrous hand are analyzed, and a bag of models based on piecewise linear dynamic systems is proposed. Furthermore, corresponding relation between tactile data time-series and family of models describing different types of objects is established in lowdimensional feature space via solving parametric matrixes of dynamic system models. Some experiments are conducted on a dextrous hand with tactile array sensor, and the results show that the proposed method can give not only a precise description of the dynamic process corresponding to a same type of objects, but also a comprehensive description corresponding to different types of objects, which will lay the foundation for multi-modal information fusion in feature space.

引用

页码：394 / 401

页数：7

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