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 authorAuthor Vitae ; Aude Billard aude.billard@epfl.ch" class="auth_mail" title="E-mail the corresponding authorAuthor 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
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A control strategy for multi-contact exploration using tactile signals is proposed.
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It exploits all DOFs of high-DOFs robotic hands to make many contacts.
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Contact forces are kept low while creating new contacts and moving along objects.
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Fast exploration of complex shapes is performed in simulation.
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It can be applied to grasping unknown objects by enveloping them with the whole hand.