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EbookBell Team
4.0
86 reviewsEnabling robots to execute reliable grasping and manipulation tasks will significantly
expand the activities robots can perform. Some information that is crucial for
guaranteeing grasp stability can only be obtained through tactile sensing and inaccessible
by other sensing modalities. Examples include contact forces, vibration, slip
onset, texture, and object mass distribution. While an increasing number of commercial
and research robotic hands have embedded tactile sensors, the understanding of
the behavior and limitation of tactile sensing has been limited and theoretical. In this
thesis, we conducted one of the first large trial grasping experiments. We observed
that tactile sensor signals may internalize a combination of uncertainties and errors
in the task and throughout the robotic system, therefore exhibiting variations in the
signals that are not easily separable and surmountable.
