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Erschienen in:
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2015 | OriginalPaper | Buchkapitel

Grasping and Manipulation of Unknown Objects Based on Visual and Tactile Feedback

verfasst von : Robert Haschke

Erschienen in: Motion and Operation Planning of Robotic Systems

Verlag: Springer International Publishing

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Abstract

The sense of touch allows humans and higher animals to perform coordinated and efficient interactions within their environment. Recently, tactile sensor arrays providing high force, spatial, and temporal resolution became available for robotics, which allows us to consider new control strategies to exploit this important and valuable sensory channel for grasping and manipulation tasks. Successful dexterous manipulation strongly depends on tight feedback loops integrating proprioceptive, visual, and tactile feedback. We introduce a framework for tactile servoing that can realize specific tactile interaction patterns, for example to establish and maintain contact (grasping) or to explore and manipulate objects. We demonstrate and evaluate the capabilities of the proposed control framework in a series of preliminary experiments employing a 16 \(\times \) 16 tactile sensor array attached to a Kuka LWR arm as a large fingertip.

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Vorheriges Kapitel Open Architecture for Vision-Based Robot Motion Planning and Control
Nächstes Kapitel Obstacle Avoidance with Industrial Robots
Fußnoten
1
The sensor’s sensitivity and force range can be adjusted to the task. Here, we have chosen the characteristics to provide a linear range from 0.1–1 kPa.
 
2
The steady state errors and standard deviations are computed from a time series of 20 s duration starting after convergence (response time). All values are obtained by averaging over 20 trials.
 
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Metadaten
Titel
Grasping and Manipulation of Unknown Objects Based on Visual and Tactile Feedback
verfasst von
Robert Haschke
Copyright-Jahr
2015
Buch
Motion and Operation Planning of Robotic Systems

Print ISBN: 978-3-319-14704-8

Electronic ISBN: 978-3-319-14705-5

Copyright-Jahr: 2015

DOI
https://doi.org/10.1007/978-3-319-14705-5_4

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