TY - GEN
T1 - Development of multifunctional robot hand for visual inspection equipped with 3D force sensing
AU - Akiyama, Ryo
AU - Kamiyama, Kazuto
AU - Kojima, Masaru
AU - Horade, Mitsuhiro
AU - Mae, Yasushi
AU - Arai, Tatsuo
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2016/3/21
Y1 - 2016/3/21
N2 - In this paper, we design a robot hand for visual inspection equipped with 3D force sensing. The designed hand is attached to the tip of legs of multi-legged robot ASTERISK. The reason for the robot hand to be equipped to the tip of ASTERISK is that it could meet following four requirements. Firstly, the hand system can catch a 1cm size object such as bolts and wires. Secondly, a small camera is attached inside the hand for visual inspection. Thirdly, when moving, the hand will close and become regular tip of leg. Lastly, the hand can equip 3D force sensing ability.
AB - In this paper, we design a robot hand for visual inspection equipped with 3D force sensing. The designed hand is attached to the tip of legs of multi-legged robot ASTERISK. The reason for the robot hand to be equipped to the tip of ASTERISK is that it could meet following four requirements. Firstly, the hand system can catch a 1cm size object such as bolts and wires. Secondly, a small camera is attached inside the hand for visual inspection. Thirdly, when moving, the hand will close and become regular tip of leg. Lastly, the hand can equip 3D force sensing ability.
UR - http://www.scopus.com/inward/record.url?scp=84966479960&partnerID=8YFLogxK
U2 - 10.1109/MHS.2015.7438342
DO - 10.1109/MHS.2015.7438342
M3 - Conference contribution
AN - SCOPUS:84966479960
T3 - 2015 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2015
BT - 2015 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2015
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - International Symposium on Micro-NanoMechatronics and Human Science, MHS 2015
Y2 - 23 November 2015 through 25 November 2015
ER -