Control framework for dexterous manipulation using dynamic visual servoing and tactile sensors’ feedback
Empreu sempre aquest identificador per citar o enllaçar aquest ítem
http://hdl.handle.net/10045/35736
Títol: | Control framework for dexterous manipulation using dynamic visual servoing and tactile sensors’ feedback |
---|---|
Autors: | Jara, Carlos A. | Pomares, Jorge | Candelas-Herías, Francisco A. | Torres, Fernando |
Grups d'investigació o GITE: | Automática, Robótica y Visión Artificial |
Centre, Departament o Servei: | Universidad de Alicante. Departamento de Física, Ingeniería de Sistemas y Teoría de la Señal |
Paraules clau: | Dexterous manipulation | Dynamic control | Tactile sensors | Visual servoing |
Àrees de coneixement: | Ingeniería de Sistemas y Automática |
Data de publicació: | 21-de gener-2014 |
Editor: | MDPI |
Citació bibliogràfica: | 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 |
Resum: | 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. |
Patrocinadors: | 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 |
Tipus: | info:eu-repo/semantics/article |
Drets: | © 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/). |
Revisió científica: | si |
Versió de l'editor: | http://dx.doi.org/10.3390/s140101787 |
Apareix a la col·lecció: | INV - AUROVA - Artículos de Revistas INV - HURO - Artículos de Revistas |
Arxius per aquest ítem:
Arxiu | Descripció | Tamany | Format | |
---|---|---|---|---|
2014_Jara_etal_Sensors.pdf | 625,88 kB | Adobe PDF | Obrir Vista prèvia | |
Aquest ítem està subjecte a una llicència de Creative Commons Llicència Creative Commons