Multi-contact haptic exploration and grasping with tactile sensors

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• 作者：Nicolas Sommer ; ^{n.sommer@epfl.ch" class="auth_mail" title="E-mail the corresponding author}Author Vitae ; Aude Billard ^{aude.billard@epfl.ch" class="auth_mail" title="E-mail the corresponding author}Author Vitae
• 关键词：Tactile sensing ; Haptic exploration ; Multiple contacts ; Compliant grasping
• 刊名：Robotics and Autonomous Systems
• 出版年：2016
• 出版时间：November 2016
• 年：2016
• 卷：85
• 期：Complete
• 页码：48-61
• 全文大小：2654 K

文摘

<dl class="listitem" id="list_d1e2401"><dt class="label">an id="mmlsi119" class="mathmlsrc">an class="formulatext stixSupport mathImg" data-mathURL="/science?_ob=MathURL&_method=retrieve&_eid=1-s2.0-S0921889016301610&_mathId=si119.gif&_user=111111111&_pii=S0921889016301610&_rdoc=1&_issn=09218890&md5=6ef82172553415e5ad91e81d8d903142" title="Click to view the MathML source">•an>an class="mathContainer hidden">an class="mathCode">ath id="mml119" overflow="scroll" altimg="si119.gif">•ath>an>an>an>dt><dd>

d="d1e2408">A control strategy for multi-contact exploration using tactile signals is proposed.

dd><dt class="label">an id="mmlsi119" class="mathmlsrc">an class="formulatext stixSupport mathImg" data-mathURL="/science?_ob=MathURL&_method=retrieve&_eid=1-s2.0-S0921889016301610&_mathId=si119.gif&_user=111111111&_pii=S0921889016301610&_rdoc=1&_issn=09218890&md5=6ef82172553415e5ad91e81d8d903142" title="Click to view the MathML source">•an>an class="mathContainer hidden">an class="mathCode">ath id="mml120" overflow="scroll" altimg="si119.gif">•ath>an>an>an>dt><dd>

d="d1e2416">It exploits all DOFs of high-DOFs robotic hands to make many contacts.

dd><dt class="label">an id="mmlsi119" class="mathmlsrc">an class="formulatext stixSupport mathImg" data-mathURL="/science?_ob=MathURL&_method=retrieve&_eid=1-s2.0-S0921889016301610&_mathId=si119.gif&_user=111111111&_pii=S0921889016301610&_rdoc=1&_issn=09218890&md5=6ef82172553415e5ad91e81d8d903142" title="Click to view the MathML source">•an>an class="mathContainer hidden">an class="mathCode">ath id="mml121" overflow="scroll" altimg="si119.gif">•ath>an>an>an>dt><dd>

d="d1e2424">Contact forces are kept low while creating new contacts and moving along objects.

dd><dt class="label">an id="mmlsi119" class="mathmlsrc">an class="formulatext stixSupport mathImg" data-mathURL="/science?_ob=MathURL&_method=retrieve&_eid=1-s2.0-S0921889016301610&_mathId=si119.gif&_user=111111111&_pii=S0921889016301610&_rdoc=1&_issn=09218890&md5=6ef82172553415e5ad91e81d8d903142" title="Click to view the MathML source">•an>an class="mathContainer hidden">an class="mathCode">ath id="mml122" overflow="scroll" altimg="si119.gif">•ath>an>an>an>dt><dd>

d="d1e2432">Fast exploration of complex shapes is performed in simulation.

dd><dt class="label">an id="mmlsi119" class="mathmlsrc">an class="formulatext stixSupport mathImg" data-mathURL="/science?_ob=MathURL&_method=retrieve&_eid=1-s2.0-S0921889016301610&_mathId=si119.gif&_user=111111111&_pii=S0921889016301610&_rdoc=1&_issn=09218890&md5=6ef82172553415e5ad91e81d8d903142" title="Click to view the MathML source">•an>an class="mathContainer hidden">an class="mathCode">ath id="mml123" overflow="scroll" altimg="si119.gif">•ath>an>an>an>dt><dd>

d="d1e2440">It can be applied to grasping unknown objects by enveloping them with the whole hand.

dd>dl>