Optimal grasping using visual and tactile feedback

摘要

Sensor feedback and sensor fusion are indispensable for working in the real world. In this paper a robot hand grasping method is proposed. This method uses visual and tactile sensor information. First, grasping evaluation functions are proposed, which are derived from the relationships between a hand and an object. Then a control method is proposed which uses visual and tactile feedback. In this method pre-shaping and grasping are executed smoothly and optimally. Experimental results are presented and a "1 ms sensory-motor system" is introduced as the experimental system for sensor fusion.