A Framework for using Tactile Data in Autonomous Reactive Manipulation

A. Morales, M. Prats, and G. Recatal (Spain)


Robotics, manipulation, tactile sensor, reactive grasping.


Sensory, particularly tactile, information is a key tool for reactive grasping and manipulation in service environ ments. In this paper we address the question of how tactile sensor data can be integrated theoretically and practically in an autonomous manipulation system. We propose a theoretical framework for describing the grasp actions taking into account limitation of the robot gripper and the reactive execution of such actions. We de scribe the role of different sensory data in such scheme. Finally, a practical implementation of a manipulative action is presented which follows the principles of the theo retical framework. This task is the extraction of books from a bookshelf, with a mobile service robot.

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