System approach: a paradigm for robotic tactile sensing

Dahiya, R. S. , Valle, M. and Metta, G. (2008) System approach: a paradigm for robotic tactile sensing. In: 10th IEEE International Workshop on Advanced Motion Control, 2008. AMC '08, Trento, Italy, 26-28 Mar 2008, pp. 110-115. (doi:10.1109/AMC.2008.4516050)

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Publisher's URL: http://dx.doi.org/10.1109/AMC.2008.4516050

Abstract

In the pursuit of developing touch sensors or tactile sensing arrays, the emphasis has only been on the sensors. This led to a large number of 'bench top' sensors, very few of which have actually been used in robotic systems. And those that have seen the actual use have almost invariably been used in static contact point imaging rather than the active manipulation or exploration. Perhaps the lack of the system approach rendered many of them unusable. In this work, we present the design of a tactile sensing system taking into account not only the parameters to be sensed but also the physical and operational constraints of robotic system.

Item Type:Conference Proceedings
Status:Published
Refereed:Yes
Glasgow Author(s) Enlighten ID:Dahiya, Professor Ravinder
Authors: Dahiya, R. S., Valle, M., and Metta, G.
College/School:College of Science and Engineering > School of Engineering > Electronics and Nanoscale Engineering

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