Tactile servo using dynamic tactile jacobian estimator

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Nowadays, a wide variety of service robots have been developed to assistant humans in performing tasks that are dull and repetitive, such as household chores. Tactile perception can play a critical role in a service robot to improve its performance. Thus, the robot control method with tactile perception, Tactile servo, was proposed. However, the common tactile servo cannot deal with the targets so generally and flexibly. To enhance the performance of the tactile servo, this study is to present an agile and versatile tactile servo by the dynamic tactile Jacobian estimator which can generate an adjustable tactile Jacobian instead of a fixed tactile Jacobian used in the common tactile servo. In the experimental validation, this research utilized the objects with different shapes for experimenting, and this research confirmed the feasibility of the tactile servo using the dynamic tactile Jacobian estimator in final. This paper explains the method and demonstrates the results.

Original languageEnglish
Title of host publicationIEEE International Conference on Robotics and Biomimetics, ROBIO 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages235-240
Number of pages6
ISBN (Electronic)9781728163215
DOIs
Publication statusPublished - 2019 Dec
Event2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019 - Dali, China
Duration: 2019 Dec 62019 Dec 8

Publication series

NameIEEE International Conference on Robotics and Biomimetics, ROBIO 2019

Conference

Conference2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019
CountryChina
CityDali
Period19/12/619/12/8

Keywords

  • Pressure distribution
  • Tactile Jacobian estimator
  • Tactile servo

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Hardware and Architecture
  • Mechanical Engineering
  • Control and Optimization

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