<title>Toward tactile sensor-based exploration in a robotic environment</title>

Abstract

In this paper we discuss efforts directed to study touch as the primary sensing modality for a robotic manipulatory system. We provide a framework for active robotic exploration strategy and discuss the role of tactile and force/torque sensors in the exploration of a robotic workcell. Further, we describe a number of techniques useful in processing tactile information acquired using passive as well as active sensing modes. Successful adaptation of touch in robotic manipulatory systems entails in both enhancing the tactile sensor technology, and developing techniques for efficient and accurate analysis of the tactile information. Concepts and algorithms developed in this paper are evaluated using a laboratory test bed which includes an industrial robot with a parallel jaw end-effector with dynamic feed-back from a 10 x 16 tactile sensor and a force/torque sensor. Results of the experimental studies show promise for the basic active exploration framework and various algorithmic modules constituting the exploration process.