ゴムモールドされた音センサによる振動認識を利用した 衝突・滑り・変形を伴う物体操作の実現

Abstract

Through vibration measurement, a robot can recognize not only contact state between the robot and a surrounding object but also contact state between surrounding objects. In this research, we develop a robot hand with microphone, by which robots can measure vibration caused by object deformation, collision or slip. Additionally, we propose how to recognize the contact state by vibration measurement.