Abstract
This paper presents external vision-force control and force-tactile integration in three different examples of multisensor integration for robotic manipulation and execution of everyday tasks, based on a general framework that enables sensor-based compliant physical interaction of the robot with the environment. The first experiment is a door opening task where a mobile manipulator has to pull the handle with a parallel jaw gripper by using vision and force sensors in a novel external vision-force coupling approach, where the combination is done at the control level; the second one is another vision-force door opening task, but including a sliding mechanism and a different robot, endowed with a three-fingered hand; finally, the third task is to grasp a book from a bookshelf by means of tactile and force integration. The purpose of this paper is twofold: first, to show how vision and force modalities can be combined at the control level by means of an external force loop. And, second, to show how the sensor-based manipulation framework that has been adopted can be easily applied to very different physical interaction tasks in the real world, allowing for dependable and versatile manipulation.
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© 2009 Springer-Verlag Berlin Heidelberg
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Prats, M., Martinet, P., Lee, S., Sanz, P.J. (2009). Compliant Physical Interaction Based on External Vision-Force Control and Tactile-Force Combination. In: Hahn, H., Ko, H., Lee, S. (eds) Multisensor Fusion and Integration for Intelligent Systems. Lecture Notes in Electrical Engineering, vol 35. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-89859-7_16
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DOI: https://doi.org/10.1007/978-3-540-89859-7_16
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