NDLI: On Control for "Blind Touching" by Human-Like Thumb Robots

Content Provider	IEEE Xplore Digital Library
Author	Tahara, K. Arimoto, S. Zhi-Wei Luo Yoshida, M.
Copyright Year	2007
Description	Author affiliation: Bio-Mimetic Control Res. Center, RIKEN, Nagoya (Tahara, K.; Arimoto, S.; Zhi-Wei Luo; Yoshida, M.)
Abstract	Human can pinch or grasp and manipulate an object stably and dexterously. Accomplishment of such tasks is contributed from human hand's configuration, called "fingers-thumb opposability". This opposability of the thumb against other digits is specific and granted to only human among primates. When we use a cell phone, or change a TV's channel using a remote controller, we grasp it by a palm and digits other than the thumb, and push buttons using the thumb quickly, without looking the buttons. These kinds of thumb's movement seem to be one of the most intelligent movements in a human. Therefore, execution of such touching tasks without visual or tactile sensing is called in this paper "blind touching". The goal of this research is to realize humanlike "blind touching" by means of a 5 D.O.F. thumb robot model with soft and hemispherical finger-tip. To do this, we formulate a simultaneous contact position and touching force control by using 3-dimensional rolling contact with the task plane. First, dynamics of the 5 D.O.F. thumb robot model with hemispherical soft finger-tip under rolling constraints is derived. Then, a sensory-motor control law without vision, force or tactile sensing is proposed. Some numerical simulations show that the desired contact position and touching force can be attained by the proposed control scheme. A theoretical proof of convergence to the desired state is also presented.
Sponsorship	IEEE Robotics and Automation Soc
Starting Page	592
Ending Page	598
File Size	1158922
Page Count	7
File Format	PDF
ISBN	1424406013
ISSN	10504729
DOI	10.1109/ROBOT.2007.363051
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-04-10
Publisher Place	Italy
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Thumb Humanoid robots Humans Force control Robot sensing systems Force sensors Cellular phones TV Intelligent robots Numerical simulation
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Development of intelligent robot hand using proximity, contact and slip sensing

Cooperative works by a human and a humanoid robot

Low force control scheme for object hardness distinction in robot manipulation based on tactile sensing

Development of a communication robot Ifbot

The development of Honda humanoid robot

Development of Multi-fingered Hand for Life-size Humanoid Robots

Fast running experiments involving a humanoid robot

On human motion imitation by humanoid robot

Telemanipulation with a humanoid robot hand/arm between USA and Japan

On Control for "Blind Touching" by Human-Like Thumb Robots

Similar Documents

Development of intelligent robot hand using proximity, contact and slip sensing

Cooperative works by a human and a humanoid robot

Low force control scheme for object hardness distinction in robot manipulation based on tactile sensing

Development of a communication robot Ifbot

The development of Honda humanoid robot

Development of Multi-fingered Hand for Life-size Humanoid Robots

Fast running experiments involving a humanoid robot

On human motion imitation by humanoid robot

Telemanipulation with a humanoid robot hand/arm between USA and Japan

On Control for "Blind Touching" by Human-Like Thumb Robots