Abstract
In this paper we describe a control framework that integrates tactile and force sensing to regulate the phys- ical interaction of an anthropomorphic robotic arm with the external environment. In particular, we exploit tactile sensors distributed on the robot fingers and a 6-axis force/torque sensor place at the bottom of the arm, just below the shoulder. Due to their different mounting locations and sensitivity, the sensors provide different types of contact information; their integration allows to deal with both slight and hard contacts by performing different control strategies depending on the location and the intensity of the contact. We provide real-world experimental results that show how a humanoid torso equipped with moving head, eyes, arm and hand can realize visually guided reaching dealing with different types of unexpected contacts with the environment.
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