Whole Body Manipulation Using Tactile Information

Abstract

In this paper we propose an approach to use tactile information in a robot's whole arm dynamic manipulation. Unlike those researches that only use tactile sensors to recognize objects or contact conditions, this approach considers the relation between a robot's motion trajectory and the tactile information for the succeeded tasks cases, and adjusts the robot's motion spatially and temporally so as to realize the required dynamic manipulations. Experimental results show the effectiveness of our approach. Our human interactive robot named RI-MAN can hold up a dummy weighing up tp18kg by this algorithm using real-time whole body tactile feedback.