Edge tracking using tactile servo
- 19 November 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 2, 84-89
- https://doi.org/10.1109/iros.1995.526143
Abstract
A novel method to perform edge tracking using tactile sensors is presented in this paper. Using the tactile servo scheme, a robot manipulator is driven only by real-time tactile feedback from the array tactile sensors mounted directly on the robot end-effector. Compared with previous approaches, the control scheme presented in this paper is consistent and more efficient. Real-time edge tracking experiments are conducted using an experimental system consisting of a PUMA 260, a single rigid finger and a planar array tactile sensor. Experimental results show satisfactory control speed and accuracy for both straight and curved edge tracking. An example of active tactile sensing of a unknown object using edge tracking is also demonstrated.Keywords
This publication has 9 references indexed in Scilit:
- Manipulation Of An Unknown Object By Multifingered Hands With Roll@ Contact Using Tactile ~eedbaclcPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2005
- Acquiring tactile data for the recognition of planar objectsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2005
- Tactile sensor control for robotic manipulationsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- Sensing body structures by an advanced robot systemPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- A haptic system for a multifingered handPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Robot active touch exploration: constraints and strategiesPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Using Tactile Data for Real-Time FeedbackThe International Journal of Robotics Research, 1991
- Model-Based Recognition and Localization from Sparse Range or Tactile DataThe International Journal of Robotics Research, 1984
- Active stiffness control of a manipulator in cartesian coordinatesPublished by Institute of Electrical and Electronics Engineers (IEEE) ,1980