Abstract
In this paper, a new approach to tactile sensor-based object manipulation is proposed. The approach makes use of the simple observation that the progress of a manipulation task can be characterized by the tactile images produced by tactile sensors mounted on the fingertips of a robot hand. In analogy to image-based visual servo, a control scheme based upon features derived from tactile images is used to control the movement of a robot arm. The approach is applied to derive a control scheme for the task of rolling a cylindrical pin on a planar surface using a planar robot finger equipped with a tactile array sensor. The tactile features used in the control scheme are derived from a theoretical and experimental study of the variation of the normal stress distribution as a result of applied force. The experiment demonstrates that information from array tactile sensors can be used in a simple, direct and effective manner to control manipulation tasks. This approach is currently being extended to other tasks involving a dextrous multi-fingered robot hand.
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