Journal
JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY
Volume 29, Issue 7, Pages 2693-2698Publisher
KOREAN SOC MECHANICAL ENGINEERS
DOI: 10.1007/s12206-015-0516-0
Keywords
Kalman filter; Weight value; Sensor fusion; Robot hand; Force sensing
Categories
Funding
- R&D Convergence Program of MSIP (Ministry of Science, ICT and Future Planning)
- ISTK (Korea Research Council for Industrial Science and Technology) of Republic of Korea [B551179-12-08-00]
- National Research Council of Science & Technology (NST), Republic of Korea [B551179-12-08-00] Funding Source: Korea Institute of Science & Technology Information (KISTI), National Science & Technology Information Service (NTIS)
Ask authors/readers for more resources
A robot hand normally employees various sensors that are packaged in small form factor, perform with delicately accurate, and cost mostly very expensive. Grasping operation of the hand relies especially on accuracy of those sensors. Even with a set of advanced sensory systems embedded in a robot hand, securing a stable grasping is still challenging task. The present work makes an attempt to improve force sensor accuracy by applying sensor fusion method. An optimal weight value sensor fusion method formulated with Kalman filters is presented and tested in the work. Using a set of inexpensive sensors, the work achieves a reliable force sensing and applies the enhanced sensor stability to an object pinch grasping.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available