6 accepted papers
Robots performing tasks in challenging environments must be supported by control or planning algorithms that exploit sensor feedback to effectively plan the robot’s actions. In this paper, we propose a reactive control law that simultaneously utilizes proximity and tactile feedback to perform a pick…
Algorithms for tactile data processing heavily rely on the generation of tactile images representing the contact pressure distribution. This approach allows to exploit existing algorithms for image processing, but requires the integration of the tactile elements on a flat surface. Robot skin technol
Robots operating in unstructured environments must be capable of safely handling unexpected collisions with objects existing in the surrounding area, possibly without stopping the task execution. This letter proposes a tactile feedback control law allowing the robot to apply bounded contact forces i
This paper deals with the problem of using the tactile feedback generated by a robotic skin for discriminating a human hand touch from a generic contact. Humans understand collaboration intentions through different sensing modalities such as vision, hearing and touch. Among them, a physical interact…
This paper deals with the problem of estimating the pose of tactile elements (i.e. taxels) composing a robotic skin covering the whole body of a robot. This problem arises when a robot skin technology has to be integrated into an already existing robotic platform. To date, the integration process is…
In this paper a novel multi-modal tactile sensor is presented, featuring a matrix of capacitive pressure sensors, a microphone for acoustic measurements and proximity and ambient light sensor. The sensor is fully embedded and can be easily integrated at mechanical and electrical levels with industri…