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Flexible Spatial Resolution for Preshaping with a Modular Capacitive Tactile Proximity Sensor

Escaida Navarro, Stefan; Alagi, Hosam; Heilig, Alexander; Mende, Michael; Hein, Björn

Abstract:
In this work we integrate a novel capacitive tactile proximity sensor into a 2-jaw-gripper. We show that its capability for a flexible spatial resolution enables closedloop control techniques for preshaping the gripper in 6D to an object. Additionally, we show that the sensor shows good performance in a self- and mutual-capacitive configurations, meaning it can detect conducting as well as non-conducting materials.


Zugehörige Institution(en) am KIT Institut für Anthropomatik und Robotik (IAR)
Publikationstyp Proceedingsbeitrag
Jahr 2016
Sprache Englisch
Identifikator ISBN: 978-1-5090-3762-9
KITopen ID: 1000069872
Erschienen in IROS 2016 : 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems : October 9-14, 2016, Daejeon Convention Center, Daejeon, Korea
Verlag IEEE, Danvers
Seiten 3-5
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