ZMP Features for Touch Driven Robot Control via Tactile Servo

  title={ZMP Features for Touch Driven Robot Control via Tactile Servo},
  author={Zhanat Kappassov and Juan Antonio Corrales and V{\'e}ronique Perdereau},
In most robotic applications, tactile sensors are modeled as rigid matrices of adjacent pressure sensing elements so that the geometric deformations of their surfaces are neglected. This paper proposes to define these deformations as rotational and translational compliances that are later used as new tactile features for tactile servoing tasks. In fact, a novel two-layered inverse tactile Jacobian matrix is developed in order to map errors of these features into cartesian errors required for… 
Simulation of Tactile Sensing Arrays for Physical Interaction Tasks
A framework for tactile servoing in the simulated world is presented that includes a general model of tactile sensing arrays that can simulate the behavior of a real tactile sensing array thanks to an empirical characterization procedure.
Shear-invariant Sliding Contact Perception with a Soft Tactile Sensor
A shear-invariant perception method based on principal component analysis (PCA) which outputs the required information about the environment despite sliding motion is presented which could underlie a more sophisticated controller for challenging manipulation or exploration tasks in unstructured environments.
A Series Elastic Tactile Sensing Array for Tactile Exploration of Deformable and Rigid Objects
This work presents a series elastic tactile array to enable tactile exploration for position-controlled robot manipulators, and shows that point clouds of objects can be generated quickly with the sensor module attached to a position- controlled robot manipulator as an end-effector.
Shear, Torsion and Pressure Tactile Sensor via Plastic Optofiber Guided Imaging
An optical tactile sensor incorporating plastic optical fibers, transparent silicone rubber, and an off-the-shelf color camera that can detect: translational and rotational shear forces, and contact location and its normal force and is immune to hazardous environments is presented.
In-hand robotic tactile object recognition
A method to enable a robotic hand to quickly understand the geometrical nature of an object that has been handled by it is proposed and a tool to extract information about the grasped object from the dynamic data generated during the grasp execution is proposed.
Tactile Image-to-Image Disentanglement of Contact Geometry from Motion-Induced Shear
A supervised convolutional deep neural network model is proposed that learns to disentangle the components of sensor deformations caused by contact geometry from those due to sliding-induced shear.
Adaptive stable grasping control strategy based on slippage detection
Only contact force is used as feedback variable in control system, and the proposed strategy can save hardware components and electronic circuit components for sensing, reducing the cost and design difficulty of conducting real control system and making it easy to realize in engineering application field.
Vibro-Tactile Foreign Body Detection in Granular Objects based on Squeeze-Induced Mechanical Vibrations
A vibro-tactile sensor for detecting the mechanical vibrations from squeezing granular objects using detected vibrations and the most successful method was convolutional neural network that achieved an accuracy of 91% on unseen test data is studied.
Active Manipulation


Tactile Servo: Control of Touch-Driven Robot Motion
In this paper, a new approach to tactile sensor-based object manipulation is proposed. The approach makes use of the simple observation that the progress of a manipulation task can be characterized
Control of contact via tactile sensing
The critical issue of how to model the state of contact in terms that are both sufficient for defining general contacts and conducive to bridging the gap between a robot task description and the information observable by a tactile sensor is addressed.
A Control Framework for Tactile Servoing
This paper introduces a control framework to realize a whole set of tactile servoing tasks, i.e. control tasks that intend to realizes a specific tactile interaction pattern, by exploiting methods known from image processing.
Edge tracking using tactile servo
  • N. Chen, Hong Zhang, R. Rink
  • Engineering, Computer Science
    Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots
  • 1995
A novel method to perform edge tracking using tactile sensors using the tactile servo scheme, a robot manipulator is driven only by real-time tactile feedback from the array tactile sensors mounted directly on the robot end-effector.
Robot Physical Interaction through the combination of Vision, Tactile and Force Feedback - Applications to Assistive Robotics
The book presents the theoretical framework for the versatile specification of physical interaction tasks, as well as the problem of autonomous planning of these tasks, with a further focus on sensor-based dependable execution combining three different types of sensors: force, vision and tactile.
What can be inferred from a tactile arrayed sensor in autonomous in-hand manipulation?
Based on localized displacement phenomenon of a sliding soft object, an approach to detect the slippage quantitatively is proposed, and a wide range of experiment is conducted in term of characteristics of object's movement.
Video showing the evaluation of the proposed zmp feature,
  • https: //, accessed April
  • 2016
Video showing control of force, " v=HK7x51U7CiA
  • Video showing control of force, " v=HK7x51U7CiA
  • 2016