Manipulation and active sensing by pushing using tactile feedback
| Author(s) : | Kazuo Tanie Hitoshi Maekawa Kevin M. Lynch, |
| Publisher : | N/A |
| Publication Date : | 1992 |
| ISSN : | N/A |
| Abstract : | Abstract--- We investigate manipulation and active sensingby 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. I., |