Hi-Speed Tactile Sensing for Array-type Tactile Sensor and Object Manipulation based on Tactile Information

Abstract

Recently, a robotic hand with tactile sensors is developed all over the world. We also have developed a universal robot hand with tactile sensors and other sensors. Tactile sensors are very important for manipulating objects dexterously. However, array-type tactile sensor has many I/O, thus require much processing time. In this paper, we propose a hi-speed tactile sensing based on the genetic algorithm in order to measure the tactile information rapidly. The validity of the proposed method shows through some experiments. Moreover, a multi-object manipulation according to the tactile information is proposed.