Manipulation Control with Dynamic Tactile Sensing

In this paper we describe ongoing work toward eventdriven dextrous manipulation. In this context, the events are primarily determined through tactile and force/torque sensing. We begin with a review of recent work in tactile event detection and its role in the control of manipulation. We then consider control issues, focusing on the problem of accomplishing smooth transitions as the constraints, dynamic equations and control objectives change from one phase of a manipulation task to the next. Smooth transitions are essential in dextrous manipulation because of the typically low inertias of the grasped object and the fingers Ñ the object accelerates quickly and the fingertip sensors produce large signals in response to disturbances at the contacts. Finally, we describe a language that we are developing to facilitate programming of dextrous manipulation tasks with multiple control modes and tactile sensors.