Abstract
Grasping and manipulating objects with robotic hands depend largely on the features of the object to be used. Especially softness and deformability are crucial features to take into account during the manipulation tasks. Positions of the fingers and forces to be applied when manipulating an object are adapted to the caused deformation. For unknown objects, a previous recognition stage is needed to set features of the object, and manipulation strategies can be adapted depending on that recognition stage. This paper presents an adaptable tactile servoing control scheme that can be used in manipulation tasks of deformable objects. Tactile control is based on maintaining a force value at the contact points which changes according to the object softness, a feature estimated in an initial stage.
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Delgado, Á., Jara, C.A., Torres, F., Mateo, C.M. (2016). Control of Robot Fingers with Adaptable Tactile Servoing to Manipulate Deformable Objects. In: Reis, L., Moreira, A., Lima, P., Montano, L., Muñoz-Martinez, V. (eds) Robot 2015: Second Iberian Robotics Conference. Advances in Intelligent Systems and Computing, vol 417. Springer, Cham. https://doi.org/10.1007/978-3-319-27146-0_7
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DOI: https://doi.org/10.1007/978-3-319-27146-0_7
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