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Using tactile data for real-time feedback

  • Section 3: Perception
  • Conference paper
  • First Online:
Experimental Robotics I

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 139))

Abstract

Object recognition through the use of input from multiple sensors is an important aspect of an autonomous manipulation system. In tactile object recognition, it is necessary to determine the location and orientation of object edges and surfaces. In this paper, we describe a controller that utilizes a Lord LTS 210 tactile sensor in the feedback loop of a manipulator to track edges in real-time. In our control system the data from the tactile sensor is processed in two stages to determine the location of edges. The parameters of these edges are then used to generate a control signal to drive the manipulator. The edge tracker has been implemented on the CMU Direct Drive Arm Il system. We describe both theory and experimental implementation of tactile edge detection and an edge tracking controller.

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Author information

Author notes

  1. Alan D. Berger

    Present address: Xerox, Rochester, NY

Authors and Affiliations

  1. Department of Electrical and Computer Engineering The Robotics Institute, Carnegie-Mellon University, 15213, Pittsburgh, PA

    Alan D. Berger & Pradeep K. Khosla

Authors
  1. Alan D. Berger
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  2. Pradeep K. Khosla
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Editor information

Vincent Hayward Oussama Khatib

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© 1990 Springer-Verlag

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Berger, A.D., Khosla, P.K. (1990). Using tactile data for real-time feedback. In: Hayward, V., Khatib, O. (eds) Experimental Robotics I. Lecture Notes in Control and Information Sciences, vol 139. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0042536

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  • DOI: https://doi.org/10.1007/BFb0042536

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-52182-2

  • Online ISBN: 978-3-540-46917-9

  • eBook Packages: Springer Book Archive

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