Publication
Integration of Fiber-Optic Sensor Arrays into a Multi-Modal Tactile Sensor Processing System for Robotic End-Effectors
Peter Kampmann; Frank Kirchner
In: Sensors - Open Access Journal (Sensors), Vol. 14 - Special Issue Tactile Sensors and Sensing Systems, No. 4, Pages 6854-6876, MDPI - Open Access Publishing, 4/2014.
Abstract
With the increasing complexity of robotic missions and the development towards long-term autonomous systems, the need for multi-modal sensing of the environment increases. Until now, the use of tactile sensor systems has been mostly based on sensing one modality of forces in the robotic end-effector. The use of a multi-modal tactile sensory system is motivated, which combines static and dynamic force sensor arrays together with an absolute force measurement system. This publication is focused on the development of a compact sensor interface for a fiber-optic sensor array, as optic measurement principles tend to have a bulky interface. Mechanical, electrical and software approaches are combined to realize an integrated structure that provides decentralized data pre-processing of the tactile measurements. Local behaviors are implemented using this setup to show the effectiveness of this approach.
Projekte
LIMES - LIMES - Learning Intelligent Motions for Kinematically Complex Robots for Exploration in Space,
SeeGrip - Autonomous underwater gripper with tactile feedback for form- and force closed object manipulation
SeeGrip - Autonomous underwater gripper with tactile feedback for form- and force closed object manipulation