Manipulation And Active Sensing By Pushing Using Tactile Feedback
نویسندگان
چکیده
We investigate manipulation and active sensing by a pushing control system using only tactile feedback. The equations of motion of a pushed object are derived using a model of the object’s limit surface, and we design a control system to translate and orient objects. The effectiveness of the proposed controller is confirmed through simulation and experiments. Active sensing of the object’s center of mass is described.
منابع مشابه
Realtime State Estimation with tactile and visual sensing. Application to Planar Manipulation
Accurate and robust object state estimation enables successful object manipulation. Visual sensing is widely used to estimate object poses. However, in a cluttered scene or in a tight workspace, the robot’s end-effector often occludes the object from the visual sensor. The robot then loses visual feedback and must fall back on open-loop execution. In this paper, we integrate both tactile and vi...
متن کاملLearning Robot Tactile Sensing for Object Manipulation Lernen taktiler Robotersensorik für Objektmanipulation
Tactile sensing is a fundamental component of object manipulation and tool handling skills. With robots entering unstructured environments, tactile feedback also becomes an important ability for robot manipulation and use of tools. In this work, we explore how a robot can learn to use tactile sensing in object manipulation tasks. We first address the problem of in-hand object localization and a...
متن کاملSensitive Manipulation: Manipulation Through Tactile Feedback
Object grasping and manipulation in robotics has been largely approached using visual feedback. Human studies on the other hand have demonstrated the importance of tactile and force feedback to guide the interaction between the fingers and the objects. Inspired by these observations we propose an approach that consists in guiding a robot’s actions mainly by tactile feedback, with remote sensing...
متن کاملManipulation in Clutter with Whole-Arm Tactile Sensing
We begin this paper by presenting our approach to robot manipulation, which emphasizes the benefits of making contact with the world across the entire manipulator. We assume that low contact forces are benign, and focus on the development of robots that can control their contact forces during goaldirected motion. Inspired by biology, we assume that the robot has low-stiffness actuation at its j...
متن کاملInvestigation of methods for constructing gloves with tactile and force feedback for virtual reality and telecontrol of anthropomorphic manipulators
Aims. Devices that allow using the functionality of natural hand movements are of the greatest interest. The purpose of this study is to select areas of research at the intersection of several fields of science – biomechanics and cybernetics to develop scientific and technical approaches to track the movements of the operator's fingers and form feedback tactile and force communication received ...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
دوره شماره
صفحات -
تاریخ انتشار 1992