Manipulation and active sensing by pushing using tactile feedback

Kevin M Lynch, H. Maekawa, K. Tanie

Research output: Chapter in Book/Report/Conference proceedingConference contribution

47 Scopus citations

Abstract

We investigate manipulation and active sensing by a pushing control system using only tactile feedback. The equations of motion of a pushed object are derived using a model of the object's limit surface, and we design a control system to translate and orient objects. The effectiveness of the proposed controller is confirmed through simulation and experiments. Active sensing of the object's center of mass is described.

Original languageEnglish (US)
Title of host publicationIROS 1992 - Proceedings of the 1992 IEEE/RSJ International Conference on Intelligent Robots and Systems
Subtitle of host publicationSensor-Based Robotics and Opportunties for its Industrial Applications
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages416-421
Number of pages6
ISBN (Electronic)0780307372
DOIs
StatePublished - 1992
Event1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1992 - Raleigh, United States
Duration: Jul 7 1992Jul 10 1992

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
Volume1
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1992
CountryUnited States
CityRaleigh
Period7/7/927/10/92

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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