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In order to increase the versatility of multi-fingered humanoid robot hands, we designed a human-finger-sized three-axis tactile sensor using a simple structure. Since we adopted a feeler-less structure for miniaturization, we acquired the three-axis tactile data via image data processing. With this sensor design, we solved the intrinsic problem of the ordinal three-axis tactile sensor's insensible...
In order to progress robust object recognition of robots, we present an algorithm for object exploration based on three-axis tactile data that is necessary and sufficient for evaluation of contact phenomena. Object surface contour is gathered by controlling finger position to keep a constant the normal force measured by optical three-axis tactile sensors as two fingertips slide along the object surface...
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