Computer Science and Artificail Intelligence Laboratory Technical Report

Sensitive Manipulation

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Abstract:

In this approach, manipulation is mainly guided by tactile feedback as opposed to vision. The traditional approach of a highly precise arm and vision system controlled by a model-based architecture is replaced by one that uses a low mechanical impedance arm with dense tactile sensing and exploration capabilities run by a behavior-based architecture.

The robot OBRERO can come gently in contact, explore, lift, and place the object in a different location. It can also detect slippage and external forces acting on a object while it is held. This tack can be done with very light objects with no fixtures and on slippage surface.