Next Article in Journal
Applicability of Time-Averaged Holography for Micro-Electro-Mechanical System Performing Non-Linear Oscillations
Next Article in Special Issue
A Two-Ply Polymer-Based Flexible Tactile Sensor Sheet Using Electric Capacitance
Previous Article in Journal
Estimating the Concentration and Biodegradability of Organic Matter in 22 Wastewater Treatment Plants Using Fluorescence Excitation Emission Matrices and Parallel Factor Analysis
Previous Article in Special Issue
Micro-Vibration-Based Slip Detection in Tactile Force Sensors
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)
View Full-Text   |   Download PDF [654 KB, uploaded 21 June 2014]   |   Browse Figures


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) which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Share & Cite This Article

Further Mendeley | CiteULike
Export to BibTeX |
EndNote |
MDPI and ACS Style

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.

View more citation formats

Related Articles

Article Metrics

For more information on the journal, click here


[Return to top]
Sensors EISSN 1424-8220 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert