Real-time edge tracking using a tactile sensor

Object recognition through the use of input from multiple sensors is an important aspect of an autonomous manipulation system. In tactile object recognition, it is necessary to determine the location and orientation of object edges and surfaces. A controller is proposed that utilizes a tactile sensor in the feedback loop of a manipulator to track along edges. In the control system, the data from the tactile sensor is first processed to find edges. The parameters of these edges are then used to generate a control signal to a hybrid controller. Theory is presented for tactile edge detection and an edge tracking controller. In addition, experimental verification of the edge tracking controller is presented

A control paradigm for general purpose manipulation systems

Journal ArticleMechanical end effectors capable of dextrous manipulation are now a reality. Solutions to the high level control issues, however, have so far proved difficult to formulate. We propose a methodology for control which produces the functionality required for a general purpose manipulation system. It is clear that the state of a hand/object system is a complex interaction between the geometry of the object, the character of the contact interaction, and the conditioning of the manipulator. The objective of this work is the creation of a framework within which constraints involving the manipulator, the object, and the hand/object interaction can be exploited to direct a goal oriented manipulation strategy. The set of contacts that are applied to a task can be partitioned into subsets with independent objectives. The individual contacts may then be driven over the interaction surface to improve the state of the grasp while the configuration of the hand addresses the application of required forces. A system of this sort is flexible enough to manage large numbers of contacts and to address manipulation tasks which require the removal and replacement of fingers in the grasp. A simulator has been constructed and results of its application to position synthesis for initial grasps is presented. A discussion of the manipulation testbed under construction at the University of Utah employing the Utah/MIT Dextrous hand is presented

An annotated bibligraphy of multisensor integration

technical reportIn this paper we give an annotated bibliography of the multisensor integration literature

A survey of dextrous manipulation

technical reportThe development of mechanical end effectors capable of dextrous manipulation is a rapidly growing and quite successful field of research. It has in some sense put the focus on control issues, in particular, how to control these remarkably humanlike manipulators to perform the deft movement that we take for granted in the human hand. The kinematic and control issues surrounding manipulation research are clouded by more basic concerns such as: what is the goal of a manipulation system, is the anthropomorphic or functional design methodology appropriate, and to what degree does the control of the manipulator depend on other sensory systems. This paper examines the potential of creating a general purpose, anthropomorphically motivated, dextrous manipulation system. The discussion will focus on features of the human hand that permit its general usefulness as a manipulator. A survey of machinery designed to emulate these capabilities is presented. Finally, the tasks of grasping and manipulation are examined from the control standpoint to suggest a control paradigm which is descriptive, yet flexible and computationally efficient1

A Biologically Inspired Controllable Stiffness Multimodal Whisker Follicle

This thesis takes a soft robotics approach to understand the computational role of a soft whisker follicle with mechanisms to control the stiffness of the whisker. In particular, the thesis explores the role of the controllable stiffness whisker follicle to selectively favour low frequency geometric features of an object or the high frequency texture features of the object.Tactile sensing is one of the most essential and complex sensory systems for most living beings. To acquire tactile information and explore the environment, animals use various biological mechanisms and transducing techniques. Whiskers, or vibrissae are a form of mammalian hair, found on almost all mammals other than homo sapiens. For many mammals, and especially rodents, these whiskers are essential as a means of tactile sensing.The mammalian whisker follicle contains multiple sensory receptors strategically organised to capture tactile sensory stimuli of different frequencies via the vibrissal system. Nocturnal mammals such as rats heavily depend on whisker based tactile perception to find their way through burrows and identify objects. There is diversity in the whiskers in terms of the physical structure and nervous innervation. The robotics community has developed many different whisker sensors inspired by this biological basis. They take diverse mechanical, electronic, and computational approaches to use whiskers to identify the geometry, mechanical properties, and objects' texture. Some work addresses specific object identification features and others address multiple features such as texture and shape etc. Therefore, it is vital to have a comprehensive discussion of the literature and to understand the merits of bio-inspired and pure-engineered approaches to whisker-based tactile perception.The most important contribution is the design and use of a novel soft whisker follicle comprising two different frequency-dependent data capturing modules to derive more profound insights into the biological basis of tactile perception in the mammalian whisker follicle. The new insights into the biological basis of tactile perception using whiskers provide new design guidelines to develop efficient robotic whiskers

Proceedings of the NASA Conference on Space Telerobotics, volume 1

The theme of the Conference was man-machine collaboration in space. Topics addressed include: redundant manipulators; man-machine systems; telerobot architecture; remote sensing and planning; navigation; neural networks; fundamental AI research; and reasoning under uncertainty