Abstract
In several fields of robotics, tactile and force sensors represent a basic tool for achieving an enhanced interaction with the environment. As a matter of fact, areas such as advanced manipulation, telemanipulation, haptic devices, legged robots and so on are intrinsically based on an advanced sensorial equipment and on proper techniques for the exploitation of their information. These types of sensors give information such as the presence of a contact, its size and shape, the exchanged forces/torques. More advanced sensors can also provide additional information, such as mechanical properties of the bodies in contact (e.g. friction coefficient, roughness, . . . ) or the slippage. In this chapter, an overview on tactile and force sensors and their specific use in robotic manipulation is presented. In particular, after an illustration of the state of the art and of the main recent technological developments, results concerning the detection and control of the relative motion (slippage) of two bodies in contact are discussed. This problem may be of relevance, e.g. in advanced manipulation by robotic systems in which, depending on the task to be executed, it might be desirable either to avoid or to exploit the slippage of the manipulated object. Similar problems can be found with legged robots, or more in general in any case where a robotic device has to interact with its environment in a controlled manner. These and other applications have justified an increasing research effort in this field in the last years, generating several interesting prototypes and techniques for data analysis.
Published Version
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