Tactile sensing in intelligent robotic manipulation - a review
نویسندگان
چکیده
A tactile sense is key to advanced robotic grasping and manipulation. By touching an object it is possible to measure contact properties such as contact forces, torques, and contact position. From these, we can estimate object properties such as geometry, stiffness, and surface condition. This information can then be used to control grasping or manipulation, to detect slip, and also to create or improve
منابع مشابه
Tactile sensing and control of robotic manipulation
This paper reviews the current state of the art and outlook in robotic tactile sensing for real-time control of dextrous manipulation. We begin with an overview of human touch sensing capabilities and draw lessons for robotic manipulation. Next, tactile sensor devices are described, including tactile array sensors, force-torque sensors, and dynamic tactile sensors. The information provided by t...
متن کاملBetter Manipulation with Human Inspired Tactile Sensing
Introduction: Understanding what properties of the human hand can to be incorporated in robotic hands has been an active area of investigation for a long time. Good strides have been made in designing robotic hands and a number of working dexterous robotic hands have also been built [1, 2]. However, the use of touch sensory (both, cutaneous/tactile/extrinsic as well as kinesthetic/intrinsic) in...
متن کاملImproving grasp performance using in-hand proximity and contact sensing
We describe the grasping and manipulation strategy that we employed at the autonomous track of the Robotic Grasping and Manipulation Competition at IROS 2016. A salient feature of our architecture is the tight coupling between visual (Asus Xtion) and tactile perception (Robotic Materials), to reduce the uncertainty in sensing and actuation. We demonstrate the importance of tactile sensing and r...
متن کاملIntegration of Vision and Force Sensors for Grasping - Multisensor Fusion and Integration for Intelligent Systems, 1996., IEEE/SICE/RSJ International Con
This paper describes a set of methods that can be used to integrate real-time external vision sensing with internal force and position sensing to estimate contact forces by the fingers of a hand. Estimating these forces and contacts is essential to performing dextrous manipulation tasks. Most robotic hands are either sensorless or lack the ability to accurately and robustly report position and ...
متن کاملControl Scheme of Object Manipulation Based on Tactile Sensing in Humanoid Robot Arm
Object manipulation is one of the important tasks in robotics. Tactile sensor system is essential as a sensory device to support robot control system. This paper present a precision control scheme of multi-fingered humanoid robot arm based on tactile sensing information to perform object manipulation tasks. With the aim to enhance the ability to recognize and manipulate object in humanoid robot...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید
ثبت ناماگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید
ورودعنوان ژورنال:
- Industrial Robot
دوره 32 شماره
صفحات -
تاریخ انتشار 2005