TY  - CHAP
AB  - The sense of touch allows humans and higher animals to perform coordinated and efficient interactions within their environment. Recently, tactile sensor arrays providing high force, spatial, and temporal resolution became available
for robotics, which allows us to consider new control strategies to exploit this important and valuable sensory channel for grasping and manipulation tasks. Successful
dexterous manipulation strongly depends on tight feedback loops integrating proprioceptive, visual, and tactile feedback. We introduce a framework for tactile servoing
that can realize specific tactile interaction patterns, for example to establish and maintain contact (grasping) or to explore and manipulate objects. We demonstrate and
evaluate the capabilities of the proposed control framework in a series of preliminary experiments employing a 16 × 16 tactile sensor array attached to a Kuka LWR arm as a large fingertip.
DO  - 10.1007/978-3-319-14705-5_4
KW  - Grasping
Tactile servoing
Online motion planning
LA  - eng
PY  - 2015
SN  - 9783319147048
SP  - 522-
T3  - Motion and Operation Planning of Robotic Systems
TI  - Grasping and Manipulation of Unknown Objects Based on Visual and Tactile Feedback
UR  - https://nbn-resolving.org/urn:nbn:de:0070-pub-27265480
Y2  - 2024-11-22T04:40:03
ER  -