Object manipulation is one crucial task in robotics. This chapter presents a precision control scheme of a multi-fingered humanoid robot arm based on tactile sensing information to perform object manipulation tasks. We developed a novel optical three-axis tactile sensor system mounted on the fingertips of a humanoid robot to enhance its ability to recognize and manipulate objects. This tactile sensor can acquire normal and shearing forces. Trajectory generation based on kinematical solutions at the arm and fingers, combined with control system structure and a sensing principle of a tactile sensor system, is presented. Object manipulation experiments are conducted using hard and soft objects. Experimental results revealed that the proposed control scheme enables the finger system to recognize low force interactions based on tactile sensing information to grasp the object surface and manipulate it without damaging the object or the sensor elements.
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Yussof, H., Ohka, M., Suzuki, H., Morisawa, N. (2009). Tactile Sensing-based Control System for Dexterous Robot Manipulation. In: Ao, SI., Rieger, B., Chen, SS. (eds) Advances in Computational Algorithms and Data Analysis. Lecture Notes in Electrical Engineering, vol 14. Springer, Dordrecht. https://doi.org/10.1007/978-1-4020-8919-0_15
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DOI: https://doi.org/10.1007/978-1-4020-8919-0_15
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