1,720,976 research outputs found
Towards the creation of tactile maps for robots and their use in robot contact motion control
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Tactile sensing: Steps to artificial somatosensory maps
No full textIn this paper a framework for representing tactile information in robots is discussed. Control models exploiting tactile sensing are fundamental in social Human-Robot interaction tasks. Difficulties arising in rendering the sense of touch in robots are at different levels: both representation and computational issues must be considered. A layered system is proposed, which is inspired from tactile sensing in humans for building artificial somatosensory maps in robots. Experiments in simulation are used to validate the approach
Enabling natural human-robot physical interaction using a robotic skin feedback and a prioritized tasks robot control architecture
No full textThis paper describes a procedure aimed to integrate tactile sensors into a real robot in order to create a platform suitable for human-robot physical interaction experiments. Furthermore, a framework for human-robot physical interaction based on tactile feedback and prioritized tasks control is presented. The framework has been successfully tested by defining and executing three physical interaction tasks. A further experiment has been performed, simulating a human intervention during a task execution
Towards autonomous robotic skin spatial calibration: A framework based on vision and self-touch
No full textThis paper deals with the problem of estimating the pose of tactile elements (i.e. taxels) composing a robotic skin covering the whole body of a robot. This problem arises when a robot skin technology has to be integrated into an already existing robotic platform. To date, the integration process is done by hand and it is not possible to predict where the sensor will be placed on the robot body. This paper presents a novel approach based on a RGB-D camera and exploiting the motion capabilities of the robot for activating the skin sensors. The method uses the measurements of the camera to reconstruct the unknown robot body outer shape and to compute how the area can be touched by the robot. The taxels responses and the related contact centroids are used for estimating the position of the sensors. Our method is based on few assumptions and is a step towards a calibration procedure that can be executed autonomously by a robot. Experiments performed on the Baxter robotic platform demonstrate the effectiveness of the presented approach obtaining an average position error less than 2mm
A framework for representing interaction tasks based on tactile data
No full textThis paper describes a framework for representing physical interaction tasks using tactile feedback. Although contact feedback has been widely exploited to control interaction with objects, the direct use of tactile information in designing and representing physical interaction rules has not received comparable attention in the literature. The missing link between algorithms implementing models of interaction and frameworks providing tactile information is one of the possible reasons. The major contribution of the paper is a working method to build a map of tactile sensors attached to a robot body and a control law using such a map to tune physical interaction with an external object. Experiments are used to validate the approach
Human hand recognition from robotic skin measurements in human-robot physical interactions
No full textThis paper presents the design and development of a novel tactile sensor system for clothes manipulation and perception using industrial grippers. The proposed system consists of a multi-modal tactile sensor and embedded re-programmable interface electronics. The sensing element features a matrix of capacitive pressure sensors, a microphone for acoustic measurements, and a proximity and ambient light sensor. The sensor is fully embedded and can be easily integrated at mechanical and electrical levels with industrial grippers. Tactile sensing design has been put on the same level of additional requirements, such as the mechanical interface, cable harness, and robustness against continuous and repetitive operations, just to name but a few. The performances of the different sensing modalities have been experimentally assessed using a test rig for tactile sensors and the system has been successfully integrated and tested on a real robotic gripper. Experiments have been performed in order to show the capabilities of the sensor for implementing tactile-based industrial gripper control
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