Control framework for dexterous manipulation using dynamic visual servoing and tactile sensors’ feedback
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Título: | Control framework for dexterous manipulation using dynamic visual servoing and tactile sensors’ feedback |
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Autor/es: | Jara, Carlos A. | Pomares, Jorge | Candelas-Herías, Francisco A. | Torres, Fernando |
Grupo/s de investigación o GITE: | Automática, Robótica y Visión Artificial |
Centro, Departamento o Servicio: | Universidad de Alicante. Departamento de Física, Ingeniería de Sistemas y Teoría de la Señal |
Palabras clave: | Dexterous manipulation | Dynamic control | Tactile sensors | Visual servoing |
Área/s de conocimiento: | Ingeniería de Sistemas y Automática |
Fecha de publicación: | 21-ene-2014 |
Editor: | MDPI |
Cita bibliográfica: | Jara CA, Pomares J, Candelas FA, Torres F. Control Framework for Dexterous Manipulation Using Dynamic Visual Servoing and Tactile Sensors’ Feedback. Sensors. 2014; 14(1):1787-1804. doi:10.3390/s140101787 |
Resumen: | Tactile sensors play an important role in robotics manipulation to perform dexterous and complex tasks. This paper presents a novel control framework to perform dexterous manipulation with multi-fingered robotic hands using feedback data from tactile and visual sensors. This control framework permits the definition of new visual controllers which allow the path tracking of the object motion taking into account both the dynamics model of the robot hand and the grasping force of the fingertips under a hybrid control scheme. In addition, the proposed general method employs optimal control to obtain the desired behaviour in the joint space of the fingers based on an indicated cost function which determines how the control effort is distributed over the joints of the robotic hand. Finally, authors show experimental verifications on a real robotic manipulation system for some of the controllers derived from the control framework. |
Patrocinador/es: | This work was funded by the Spanish Ministry of Economy, the European FEDER funds and the Valencia Regional Government, through the research projects DPI2012-32390 and PROMETEO/2013/085. |
URI: | http://hdl.handle.net/10045/35736 |
ISSN: | 1424-8220 |
DOI: | 10.3390/s140101787 |
Idioma: | eng |
Tipo: | info:eu-repo/semantics/article |
Derechos: | © 2014 by the authors; licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution license (http://creativecommons.org/licenses/by/3.0/). |
Revisión científica: | si |
Versión del editor: | http://dx.doi.org/10.3390/s140101787 |
Aparece en las colecciones: | INV - AUROVA - Artículos de Revistas INV - HURO - Artículos de Revistas |
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