7 accepted papers
We build a low-level reflex control layer driven by fast tactile feedback for multifinger grasp stabilization. Our hybrid approach combines learned tactile slip detection with model-based internal-force control to halt in-hand slip while preserving the object-level wrench. The multimodal tactile sta…
Transparent objects are ubiquitous in laboratory automation settings, as liquids need to be visually controlled regularly. Automating laboratory processes would make the creation of small-batch medication feasible, thus making more personalized and better-targeted treatments more accessible. However
Grasp planning and most specifically the grasp space exploration is still an open issue in robotics. This article presents an efficient procedure for exploring the grasp space of a multifingered adaptive gripper for generating reliable grasps given a known object pose. This procedure relies on a lim…
When considering force-controlled robots, one key-point to sense the arm-environment interaction is the availability of cheap but sufficiently precise multi-axis force sensors. Even if resonant sensors can overcome some well-known limitations such as noise and drift issues, designing multi-axial res…
In this paper we present a new method to control instantaneously MIMO oscillating systems. The algorithm and its hardware configuration are implemented on a multidimensional resonant force sensor. The robotic applications of this sensor require real-time resonant frequency measures. Inspired by the…
This paper presents a tactile sensing system capable of measuring three force components, three torque components and the position of the centroid of the forces applied to a surface linked to an array of force-torque sensors. The paper deals with the design, the calibration, and the testing of a spe…