Tactile sensing for manipulation

Abstract : Tactile sensing technology has achieved much progress in last decades. Recently developed tactile sensing systems have been utilized for implementation of bodily-aware robots, enhancement of robotic hand's dexterous manipulation, development of wearable devices for facilitating the human robot interaction, and so on. While tactile sensing has resulted in many possibilities in robotic research, robot's manipulation is still far from that of its counterpart-human-in term of dexterity. To overcome this issue, we are considering the following three aspects that need to be tackled: - Available tactile sensing technology is struggling to meet the capabilities of humans’ sense of touch; - Tactile data processing algorithms and data-driven learning technology are still immature; - General and robust robot manipulation control frameworks are missing
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Submitted on : Monday, March 19, 2018 - 5:56:01 AM
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Qiang Li, Lorenzo Natale, Robert Haschke, Andrea Cherubini, Anh-Van Ho, et al.. Tactile sensing for manipulation. International Journal of Humanoid Robotics, World Scientific Publishing, 2018, 15 (01), pp.1802001. ⟨10.1142/S0219843618020012⟩. ⟨hal-01736947⟩

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