Grasping Strategy and Control Algorithm of Two Robotic Fingers Equipped with Optical Three-Axis Tactile Sensors

摘要

This paper presents grasping strategy of robot fingers based on tactile sensing information acquired by optical three-axis tactile sensor. We developed a novel optical three-axis tactile sensor system based on an optical waveguide transduction method capable of acquiring normal and shearing forces. The sensors are mounted on fingertips of two robotic fingers. To enhance the ability of recognizing and manipulating objects, we designed the robot control system architecture comprised of connection module, thinking routines, and a hand/finger control modules. We proposed tactile sensing-based control algorithm in the robot finger control system to control fingertips movements by defining optimum grasp pressure and perform re-push movement when slippage was detected. Verification experiments were conducted whose results revealed that the finger's system managed to recognize the stiffness of unknown objects and complied with sudden changes of the object's weight during object manipulation tasks.