Manipulation and active sensing by pushing using tactile feedback
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 416 - 421, July, 1992
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.
BibTeX
@conference{Lynch-1992-15894,author = {Kevin Lynch and H. Maekawa and K. Tanie},
title = {Manipulation and active sensing by pushing using tactile feedback},
booktitle = {Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems},
year = {1992},
month = {July},
pages = {416 - 421},
}
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.