産業用ロボット向けテキスタイル触覚スキンのカスタマイズ
Customizing Textile and Tactile Skins for Interactive Industrial Robots
布製の触覚スキンを産業用ロボットアームに迅速に作製・校正・実装する手法を提案し、接触位置と力を高精度に計測できることを示した。
著者: Bo Ying Su, Zhongqi Wei, James McCann, Wenzhen Yuan, Changliu Liu
分類: cs.RO
原文アブストラクト
Tactile skins made from textiles enhance robot-human interaction by localizing contact points and measuring contact forces. This paper presents a solution for rapidly fabricating, calibrating, and deploying these skins on industrial robot arms. The novel automated skin calibration procedure maps skin locations to robot geometry and calibrates contact force. Through experiments on a FANUC LR Mate 200id/7L industrial robot, we demonstrate that tactile skins made from textiles can be effectively used for human-robot interaction in industrial environments, and can provide unique opportunities in robot control and learning, making them a promising technology for enhancing robot perception and interaction.
