TACTILE SENSING AND CONTROL OF ROBOTIC MANIPULATION

被引：183
作者：
HOWE, RD
机构：
[1] Division of Applied Sciences, Harvard University, Cambridge
来源：
ADVANCED ROBOTICS | 1994年 / 8卷 / 03期
关键词：
D O I：
10.1163/156855394X00356
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
This paper reviews the current state of the art and predicts the outlook in robotic tactile sensing for real-time control of dextrous manipulation. We begin with an overview of human touch sensing capabilities and draw lessons for robotic manipulation. Next, tactile sensor devices are described, including tactile array sensors, force-torque sensors, and dynamic tactile sensors. The information provided by these devices can be used in manipulation in many ways, such as finding contact locations and object shape, measuring contact forces, and determining contact conditions. Finally, recent progress in experimental use of tactile sensing in manipulation is discussed, and future directions for research in sensing and control are considered.
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收藏
页码：245 / 261
页数：17
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