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Sensors 2014, 14(1), 1787-1804; doi:10.3390/s140101787

Control Framework for Dexterous Manipulation Using Dynamic Visual Servoing and Tactile Sensors’ Feedback

Physics, Systems Engineering and Signal Theory Department, University of Alicante, San Vicente del Raspeig, Alicante 03690, Spain
Author to whom correspondence should be addressed.
Received: 16 December 2013 / Revised: 10 January 2014 / Accepted: 15 January 2014 / Published: 21 January 2014
(This article belongs to the Special Issue Tactile Sensors and Sensing Systems)
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Tactile sensors play an important role in robotics manipulation to perform dexterous and complex tasks. This paper presents a novel control framework to perform dexterous manipulation with multi-fingered robotic hands using feedback data from tactile and visual sensors. This control framework permits the definition of new visual controllers which allow the path tracking of the object motion taking into account both the dynamics model of the robot hand and the grasping force of the fingertips under a hybrid control scheme. In addition, the proposed general method employs optimal control to obtain the desired behaviour in the joint space of the fingers based on an indicated cost function which determines how the control effort is distributed over the joints of the robotic hand. Finally, authors show experimental verifications on a real robotic manipulation system for some of the controllers derived from the control framework.
Keywords: dexterous manipulation; dynamic control; tactile sensors; visual servoing dexterous manipulation; dynamic control; tactile sensors; visual servoing
This is an open access article distributed under the Creative Commons Attribution License (CC BY 3.0).

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Jara, C.A.; Pomares, J.; Candelas, F.A.; Torres, F. Control Framework for Dexterous Manipulation Using Dynamic Visual Servoing and Tactile Sensors’ Feedback. Sensors 2014, 14, 1787-1804.

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