Electric Field Servoing for robotic manipulation

Abstract

This paper presents two experiments with electric field servoing for robotic manipulation. In the first, a robot hand pre-shapes to the geometry and pose of objects to be grasped, by servoing each finger according to the values on EF sensors built in to each finger. In the second, a 7 degree of freedom arm aligns itself in 2 dimensions with a target object using electric field measurements as the error signal. This system also allows the end effector to dynamically track the target object as it is moved.