OTHER
Touch-driven robot control using a tactile Jacobian
Nanhe Chen, Zhang Hong, R. Rink
- Year
- 2002
- Citations
- 8
Abstract
An experimental study on touch-driven robot control, or tactile-servo, is presented in this paper. The tactile servo scheme uses a tactile feature Jacobian matrix to relate the differential change in tactile feature space to that in the robot task space. Tactile Jacobian matrices are constructed through a finite element (FE) model of the tactile sensor. Detailed implementation of the control scheme and experimental results are presented.
Keywords
Jacobian matrix and determinantTactile sensorRobotComputer scienceServoComputer visionArtificial intelligenceServo controlServomechanismFeature (linguistics)
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