Tactile sensors are believed to be a key element in order to realize robotic fingers to catch a fragile object without damage. Force sensitive conductive rubber is a low-cost material and then attractive for the application to tactile sensors. We have studied the effect of electrodes attached to the rubber sheets. We have tried four kinds of electrodes: vacuum deposited Al, adhesive Cu tape, Al thin film sheet and silver paste. It can be concluded that vacuum deposited Al has the highest potential from the practical point of view; it has the widest dynamic range and good precision at the same time
This paper is concerned with the mixed H 2 /H ∞ control problem. The purpose of this paper is to give an iterative algorithm for finding a sub-optimal static state feedback controller for the mixed H 2 /H ∞ control problem. The key idea of our algorithm is to construct two "controller sets": one is a set of controllers that improve the H 2 norm of the closed loop map for a given controller and the other is a set of controllers whose elements satisfy the H ∞ norm constraint. Using two controller sets, we propose an iterative algorithm. The obtained controller is either the global optimal solution if the H ∞ norm constraint is satisfied until the H 2 norm of the objective closed loop map converges to the H 2 optimal value or a sub-optimal solution on the boundary of the H ∞ norm constraint.
This paper is concemed with the mixed H z / H , control problem. The purpose of this paper is t o give an iterative method for obtainiig a sub-optimal solution. The obtained controller is the global optimal solution or a suboptimal solution on the boundary of H , constraint. The effectiveness of the proposed method is shown by a numerical example.
Compression force sensors are indispensable to tactile sensors in humanoid robots. We are investigating the application of low-cost electrically conducting rubber sheets to force sensors, of which the biggest problem is its poor reproducibility. We have found that the deposition of aluminum by a vacuum evaporation method shows such an excellent characteristic that the sensor can be used in a wide range under 10.33 N/cm2. In this article, we investigated time response of the sensors and also studied how the radiation heating during the vacuum evaporation process for Al deposition affected their sensing property. We found that the radiation heating induces deterioration from the point of view of standard deviation of the output voltage of the sensors at a transient region. We convince that a low-temperature Al deposition method should be developed to form electrodes on the electrical conducting rubber sensors.
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