Manipulation and active sensing by pushing using tactile feedback

Kevin Lynch, H. Maekawa, and K. Tanie
IEEE/RSJ International Conference on Intelligent Robots and Systems, 1992, pp. 416 - 421.


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Abstract
We investigate manipulation and active sensing by a pushing control system using only tactile feedback. The equations of motion of a pushed object are derived using a model of the object's limit surface, and we design a control system to translate and orient objects. The effectiveness of the proposed controller is confirmed through simulation and experiments. Active sensing of the object's center of mass is described.

Notes
Associated Center(s) / Consortia: Center for the Foundations of Robotics
Associated Lab(s) / Group(s): Manipulation Lab

Text Reference
Kevin Lynch, H. Maekawa, and K. Tanie, "Manipulation and active sensing by pushing using tactile feedback," IEEE/RSJ International Conference on Intelligent Robots and Systems, 1992, pp. 416 - 421.

BibTeX Reference
@inproceedings{Lynch_1992_3077,
   author = "Kevin Lynch and H. Maekawa and K. Tanie",
   title = "Manipulation and active sensing by pushing using tactile feedback",
   booktitle = "IEEE/RSJ International Conference on Intelligent Robots and Systems",
   pages = "416 - 421",
   year = "1992",
}