A flexible and low-cost tactile sensor for robotic applications

Sygulla, Felix; Ellensohn, Felix; Hildebrandt, Arne-Christoph; Wahrmann, Daniel; Rixen, Daniel J.

doi:10.1109/aim.2017.8013995

Cited by 13 publications

(9 citation statements)

References 25 publications

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“…The finger body was made of a stretchy material that increased flexibility without reducing strength. Different from the finger of other research studies in the literature, 25,26 our fingers can grasp the maximum weight of around 10 N. This will be seen in the subsequent experiment. Also, the size of the fingers is almost the same as the human.…”

Section: Design Of the Fingercontrasting

confidence: 64%

Design of robot finger based on flexible tactile sensor

Tang

Wang

et al. 2019

International Journal of Advanced Robotic Systems

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In this article, a flexible tactile sensor that made of conductive silicone rubber for dexterous robot hand is designed. The tactile sensor is made up of four microsensors. The maximum gripping force is simulated when the degree of a robot finger joint is 138. Meanwhile, a control system to analyze the creep and hysteresis characteristics and a processing system of the tactile sensor is designed. We also demonstrated an experiment for the application of robot grasp object, showing the finger’s flexibility and sensitivity. Then the feedback data is sent to control system to provide precise grasp action changes for the robot hand.

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Section: Design Of the Fingercontrasting

confidence: 64%

Design of robot finger based on flexible tactile sensor

Tang

Wang

et al. 2019

International Journal of Advanced Robotic Systems

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“…For future work, we plan to integrate tactile sensing elements on the feet to get a better estimation of the actual contact geometry. 36 Figure 17. Sagittal torso inclination for a toe-only, early-contact situation.…”

Section: Resultsmentioning

confidence: 99%

A force-control scheme for biped robots to walk over uneven terrain including partial footholds

Sygulla

Rixen

2020

International Journal of Advanced Robotic Systems

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The robustness of biped walking in unknown and uneven terrains is still a major challenge in research. Traversing such environments is usually solved through vision-based reasoning on footholds and feedback loops—such as ground force control. Uncertain terrains are still traversed slowly to keep inaccuracies in the perceived environment model low. In this article, we present a ground force-control scheme that allows for fast traversal of uneven terrain—including unplanned partial footholds—without using vision-based data. The approach is composed of an early-contact method, direct force control with an adaptive contact model, and a strategy to adapt the center of mass height based on contact force data. The proposed method enables the humanoid robot Lola to walk over a complex uneven terrain with 6 cm variation in ground height at a walking speed of 0.5 m/s. We consider our work a general improvement on the robustness to terrain uncertainties caused by inaccurate or even lacking information on the environment.

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“…For the future, we plan to lift the small angles limitations made in this work as well as consider Fig. 8: Photographs of the experiment with activated integrated CoM dynamics a time-variable contact gradient U by integration of tactile sensing [28].…”

Section: Discussionmentioning

confidence: 99%

Hybrid position/force control for biped robot stabilization with integrated center of mass dynamics

Sygulla

Wittmann

Seiwald

et al. 2017

2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)

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Traversing uneven terrain with unexpected changes in ground height still poses a major challenge to walking stabilization of humanoid robots. A common approach to balance a biped in such situations is the control of the ground reaction forces at the feet. However, existing solutions for this direct force control scheme do not allow to integrate changing contact areas. Therefore, we propose an explicit formulation for the contact model in task-space. Furthermore, the dynamics of the center of mass is not considered in existing force control approaches. In this work, we present a method to realize contact forces by accelerating the center of mass within the force controller. We show the validity of our explicit contact model in simulation and real-world experiments with our humanoid robot LOLA. The integration of center of mass dynamics shows great reduction of upper-body inclination angles for a late contact experiment with 5.5 cm change in ground height. We consider our contact model as a starting point for future integration of sensor-based contact information.

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A flexible and low-cost tactile sensor for robotic applications

Cited by 13 publications

References 25 publications

Design of robot finger based on flexible tactile sensor

Design of robot finger based on flexible tactile sensor

A force-control scheme for biped robots to walk over uneven terrain including partial footholds

Hybrid position/force control for biped robot stabilization with integrated center of mass dynamics

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