Tactile manipulation with biomimetic active touch

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303 Downloads (Pure)

Abstract

Tactile manipulation is the ability to control objects in real-time using the sense of touch. Here we examine tactile manipulation from the perspective of active touch with a biomimetic tactile sensor, which combines tactile perception with control of sensor location. Experiments are performed with the tactile fingertip mounted as end effector to a robot arm, to manipulate (roll) a cylinder in contact with the fingertip. Performance is validated with offline (cross-validation) and online (real-time operation) assessments. Location perception is finer than the sensor resolution, leading to superresolved tactile manipulation along a complex trajectory. However, the original methods were non-robust to large unknown disturbances of object location, necessitating modification of the perceptual process to diminish prior beliefs relative to past posterior beliefs. In consequence robust and accurate tactile manipulation was attained. In general, it appears there is a trade-off between the responsiveness to unknown change and manipulation accuracy, which must be set appropriately for each task.
Original languageEnglish
Title of host publication2016 IEEE International Conference on Robotics and Automation (ICRA 2016)
Subtitle of host publicationProceedings of a meeting held 16-21 May 2016, Stockholm, Sweden
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Pages123-129
Number of pages7
ISBN (Electronic)9781467380263
ISBN (Print)9781467380270
DOIs
Publication statusPublished - Aug 2016
Event2016 IEEE International Conference on Robotics and Automation (ICRA) - Stockholm, Sweden
Duration: 16 May 201621 May 2016

Publication series

NameProceedings of IEEE international Conference on Robotics and Automation
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
ISSN (Print)1050-4729

Conference

Conference2016 IEEE International Conference on Robotics and Automation (ICRA)
CountrySweden
CityStockholm
Period16/05/1621/05/16

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