Framework of grasping planning for multi-fingered robot hands

Object Recognition for Humanoid Robots Using Full Hand Tactile Sensor

“…The related work in object recognition by handling is quite diverse due to developments in several aspects of this subject, beginning with studies of human haptic behavior [7] from physiological and psychological studies to understand human haptic perception and unfamiliar objects surveys for recognition [8]. Other studies include humanoid robot hand system design to enable object handling [3], [4], [9], [10], control of the robot hand system of a humanoid robot [11], [12], tactile sensor array design for humanoids robot hand [5], [6], [13], [14], [15], [16], [17], [18], [19], [20], [21], [22], [23], [24], [25], [26], [27], [28], [29], [30], [31], [32]. Methods for recognizing objects based on tactile image recognition [6], [15], [18], [20], [21], [22], [23], [24], [28], [29], [31], [32], [33], [34], [35],…”

“…In 1995 Lederman et al [7] study of the anatomy and mechanics of the human hand was reported, which was the basis of humanoid robot development, addressing the object handle behavior of hands in terms of six parameters cylindrical grasp, tip, hook or snap, palmar, spherical grasp, and lateral. Park et al [9] introduced the sequence of handling objects to design a humanoid robot hand is investigated and described the learning mechanisms in object recognition. The information occurs while touching an object, such as holding the object, shape, and surface.…”

“…The RV is the resistance of the piezoresistive between the electrode, and the RS is the surface resistance that varies with the load applied. As shown in (9), the stress-strain relation is the relation between applied load F and the deformation ε of a linear elastic body, where E is the flexural modulus, and A is the body's cross-section area.…”