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2016 International Symposium on Experimental RoboticsZMP Features for Touch Driven Robot Control via Tactile Servo

2016 International Symposium on Experimental Robotics: ZMP Features for Touch Driven Robot... [In most robotic applications, tactile sensors are modeled as rigid matrices of adjacent pressure sensing elements so that the geometric deformations of their surfaces are neglected. This paper proposes to define these deformations as rotational and translational compliances that are later used as new tactile features for tactile servoing tasks. In fact, a novel two-layered inverse tactile Jacobian matrix is developed in order to map errors of these features into cartesian errors required for touch-driven exploration and manipulation robotic tasks. The performance of this new tactile servoing approach is demonstrated in several real experiments with a 6×\documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$\,\times \,$$\end{document}14 tactile array mounted on a 7-dof robotic manipulator.] http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png

2016 International Symposium on Experimental RoboticsZMP Features for Touch Driven Robot Control via Tactile Servo

Part of the Springer Proceedings in Advanced Robotics Book Series (volume 1)
Editors: Kulić, Dana; Nakamura, Yoshihiko; Khatib, Oussama; Venture, Gentiane

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References (11)

Publisher
Springer International Publishing
Copyright
© Springer International Publishing AG 2017
ISBN
978-3-319-50114-7
Pages
234 –243
DOI
10.1007/978-3-319-50115-4_21
Publisher site
See Chapter on Publisher Site

Abstract

[In most robotic applications, tactile sensors are modeled as rigid matrices of adjacent pressure sensing elements so that the geometric deformations of their surfaces are neglected. This paper proposes to define these deformations as rotational and translational compliances that are later used as new tactile features for tactile servoing tasks. In fact, a novel two-layered inverse tactile Jacobian matrix is developed in order to map errors of these features into cartesian errors required for touch-driven exploration and manipulation robotic tasks. The performance of this new tactile servoing approach is demonstrated in several real experiments with a 6×\documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$\,\times \,$$\end{document}14 tactile array mounted on a 7-dof robotic manipulator.]

Published: Mar 21, 2017

Keywords: Cartesian Space; Robot Operating System; Sensor Frame; Tactile Image; Tactile Array

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