Control framework for dexterous manipulation using dynamic visual servoing and tactile sensors' feedback

Tactile sensors play an important role in robotics manipulation to perform dexterous and complex tasks. This paper presents a novel control framework to perform dexterous manipulation with multi-fingered robotic hands using feedback data from tactile and visual sensors. This control framework permit...

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Bibliographic Details
Published in:Sensors (Basel, Switzerland) Switzerland), 2014-01, Vol.14 (1), p.1787-1804
Main Authors: Jara, Carlos A, Pomares, Jorge, Candelas, Francisco A, Torres, Fernando
Format: Article
Language:English
Subjects:
Algorithms
Control systems
Control theory
Controllers
dexterous manipulation
dynamic control
Feedback
Fingers - physiology
Graph representations
Hand - physiology
Humans
Kinematics
Motion
Robotics
Robotics - methods
Robots
Sensors
Tactile
tactile sensors
Touch - physiology
Visual
visual servoing
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Summary:Tactile sensors play an important role in robotics manipulation to perform dexterous and complex tasks. This paper presents a novel control framework to perform dexterous manipulation with multi-fingered robotic hands using feedback data from tactile and visual sensors. This control framework permits the definition of new visual controllers which allow the path tracking of the object motion taking into account both the dynamics model of the robot hand and the grasping force of the fingertips under a hybrid control scheme. In addition, the proposed general method employs optimal control to obtain the desired behaviour in the joint space of the fingers based on an indicated cost function which determines how the control effort is distributed over the joints of the robotic hand. Finally, authors show experimental verifications on a real robotic manipulation system for some of the controllers derived from the control framework.
ISSN:1424-8220
1424-8220
DOI:10.3390/s140101787