Back to Past Projects

Robotic Manipulation and Tactile Sensing

Current robot hands emulatethe structure of human hands, but they are far from dexterous. This researchaimed to define the ways that tactile information can improve robot dexterity.One notable achievement in this area was the development of high-frequencytactile sensing. This work established that vibratory information can signalimportant events such as the first instant of contact and the onset of slip.These events convey information about the state of the hand-object systemthat is essential for robust control of manipulation. Vibrations also provideperceptual information about properties such as surface texture and friction.This research effort included the development of new tactile sensing devices and signal processing algorithms, correlation of tactile phenomena withtask attributes, and the use of this information in control of manipulation.

We have studied a number of additional areas in contact sensing inmanipulation. We have conducted arigorous experimental evaluation of an object stiffness controlalgorithm on a multifingered hand; these results and our analysis showhow tactile sensing can improve performance. Another project derived practical modelsof the frictional mechanics of a sliding finger, which is essentialfor planning many manipulation tasks. A newer effort combined computer vision and tactile sensing to permit gentlegrasping of arbitrary objects in unstructured environments.

References:

  1. J.S. Son, R.D. Howe, J. Wang, and G. D. Hager, "Preliminary results on grasping with vision and touch," Proceedings of IROS '96: IEEE/RSJ International Conference on Intelligent Robots and Systems, Osaka, Japan, Nov. 4-8, 1996.
  2. R. D. Howe and M. R. Cutkosky, "Practical force-motion models for sliding manipulation," International Journal of Robotics Research,15(6), December 1996.
  3. J. S. Son and R. D. Howe, "Tactile sensing and stiffness control with multifingered hands," Proceedings of the IEEE International Conference on Robotics and Automation, Minneapolis, April 22-28, 1996, p. 3228-3233.
  4. J. S. Son, M. R. Cutkosky, and R. D. Howe, "Comparison of contact sensor localization abilities during manipulation," Robotics and Autonomous Systems, 17(4):217-233, June 1996. Also presented at IROS '95: IEEE/RSJ International Conference on Intelligent Robots and Systems, Pittsburgh, PA, August 5-9, 1995, Proceedings vol. 2, p. 96-101.
  5. J. Son, E. A. Monteverde, and R. D. Howe, "A tactile sensor for localizing transient events in manipulation," Proceedings of the 1994 IEEE International Conference on Robotics and Automation, San Diego, CA, May 1994, pp. 471-476.
  6. R. D. Howe, "Tactile sensing and control of robotic manipulation," Journal of Advanced Robotics, 8(3):245-261, 1994.
  7. R. D. Howe and M. R. Cutkosky, "Dynamic tactile sensing: Perception of fine surface features with stress rate sensing," IEEE Transactions on Robotics and Automation 9(2):140-151, April 1993.


Smooth Bipedal Walking

This project was directed at determining thesensing and control strategies that would permit a legged robot to carry apayload over rough ground as smoothly as a wheeled vehicle rolling over aflat road. Kinematic analysis has provided a criteria for smooth transferof support at footfalls. Other results include algorithms for controllingfoot placement and forward velocity while maintaining smoothness. We have experimentally tested these algorithms on the planar biped robot inour laboratory.

References

  1. E. R. Dunn and R. D. Howe, "Towards smooth biped walking," Proceedings of the 1994 IEEE International Conference on Robotics and Automation, San Diego, CA, May 1994, pp. 2489-2494.
  2. E. R. Dunn and R. D. Howe, "Foot placement and velocity control in smooth bipedal walking," Proceedings of the IEEE International Conference on Robotics and Automation, Minneapolis, April 22-28, 1996, p. 578-583.

Back to Past Projects