Spatial Calibration of Humanoid Robot Flexible Tactile Skin for Human–Robot Interaction
Author:
Chefchaouni Moussaoui Sélim12ORCID, Cisneros-Limón Rafael12ORCID, Kaminaga Hiroshi12ORCID, Benallegue Mehdi12ORCID, Nobeshima Taiki13ORCID, Kanazawa Shusuke13ORCID, Kanehiro Fumio12ORCID
Affiliation:
1. National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba 305-8560, Japan 2. CNRS-AIST Joint Robotics Laboratory (JRL), AIST, Tsukuba 305-8560, Japan 3. Human Augmentation Research Center (HARC), AIST, Kashiwa 277-0882, Japan
Abstract
Recent developments in robotics have enabled humanoid robots to be used in tasks where they have to physically interact with humans, including robot-supported caregiving. This interaction—referred to as physical human–robot interaction (pHRI)—requires physical contact between the robot and the human body; one way to improve this is to use efficient sensing methods for the physical contact. In this paper, we use a flexible tactile sensing array and integrate it as a tactile skin for the humanoid robot HRP-4C. As the sensor can take any shape due to its flexible property, a particular focus is given on its spatial calibration, i.e., the determination of the locations of the sensor cells and their normals when attached to the robot. For this purpose, a novel method of spatial calibration using B-spline surfaces has been developed. We demonstrate with two methods that this calibration method gives a good approximation of the sensor position and show that our flexible tactile sensor can be fully integrated on a robot and used as input for robot control tasks. These contributions are a first step toward the use of flexible tactile sensors in pHRI applications.
Funder
Japan Science and Technology Agency JSPS KAKENHI
Subject
Electrical and Electronic Engineering,Biochemistry,Instrumentation,Atomic and Molecular Physics, and Optics,Analytical Chemistry
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