On the Control of a Sensorized Artificial Finger for Tactile Exploration of Objects

Abstract This paper deals with a basic problem of machine perception: assuming that an ideal tactile sensing device is available, how an advanced robot could use it effectively to explore and recognize objects? This issue is addressed by describing first the features of the ideal tactile sensing device. Then a sensor-based control method is proposed, allowing a pluriarticulated manipulator equipped with such an ideal device, to perform the elemental surface-tracking task of object tactile exploration. Real tactile sensors are not ideal under many respects: the nature and relevance to the control matter of sensor limitations are examined. The proposed method is then modified in order to control a pluriarticulated manipulator provided with a real tactile sensor during exploratory operations. The main features of both control methods are discussed with reference to the particular case of a 4 degree-of-freedom finger-like manipulator

[1]  Richard P. Paul,et al.  Hybrid control of robot manipulators , 1985, Proceedings. 1985 IEEE International Conference on Robotics and Automation.

[2]  Antonio Bicchi,et al.  Tendon actuated exploratory finger with polymeric, skin-like tactile sensor , 1985, Proceedings. 1985 IEEE International Conference on Robotics and Automation.

[3]  John J. Craig,et al.  Hybrid Position/Force Control of Robot Manipulators , 1982 .

[4]  J. Salisbury,et al.  Active stiffness control of a manipulator in cartesian coordinates , 1980, 1980 19th IEEE Conference on Decision and Control including the Symposium on Adaptive Processes.

[5]  John J. Craig,et al.  Hybrid position/force control of manipulators , 1981 .

[6]  Leon D. Harmon,et al.  Automated Tactile Sensing , 1982 .

[7]  Paolo Dario,et al.  Ferroelectric polymer tactile sensors with anthropomorphic features , 1984, ICRA.

[8]  Paolo Dario,et al.  Ferroelectric polymer tactile sensors for prostheses , 1984 .