Advanced Tactile Sensing For Robotics

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Advanced Tactile Sensing For Robotics

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Author : Howard R Nicholls
language : en
Publisher: World Scientific
Release Date : 1992-12-10

Advanced Tactile Sensing For Robotics written by Howard R Nicholls and has been published by World Scientific this book supported file pdf, txt, epub, kindle and other format this book has been release on 1992-12-10 with Computers categories.

Advanced robot systems require sensory information to enable them to make decisions and to carry out actions in a versatile, autonomous way. Humans make considerable use of information derived through touch, and an emerging domain of robot sensing is tactile sensing. This book considers various aspects of tactile sensing, from hardware design through to the use of tactile data in exploratory situations using a multi-fingered robot hand.In the first part of the book, the current state of progress of tactile sensing is surveyed, and it is found that the field is still in an early stage of development. Next, some fundamental issues in planar elasticity, concerning the interaction between tactile sensors and the environment, are presented. Having established how the basic data can be derived from the sensors, the issues of what form tactile sensors should take, and how they should be used, are considered. This is particularly important given the infancy of this field. The human tactile system is examined, and then biological touch and its implications for robotics is looked at. Some experiments in dextrous manipulation using a robot hand are described, which apply some of these results. The integration of tactile sensors into a complete system is also considered, and another, novel, approach for using touch sensing in a flexible assembly machine is described.Both basic material and new research results are provided in this book, thus catering to different levels of readers. The chapters by world experts in different aspects of the field are integrated well into one volume. The editor and authors have produced a thorough and in-depth survey of all work in robot tactile sensing, making the book essential reading for all researchers in this emergent field.

Robotic Tactile Sensing

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Author : Ravinder S. Dahiya
language : en
Publisher: Springer Science & Business Media
Release Date : 2012-07-29

Robotic Tactile Sensing written by Ravinder S. Dahiya and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2012-07-29 with Technology & Engineering categories.

Future robots are expected to work closely and interact safely with real-world objects and humans alike. Sense of touch is important in this context, as it helps estimate properties such as shape, texture, hardness, material type and many more; provides action related information, such as slip detection; and helps carrying out actions such as rolling an object between fingers without dropping it. This book presents an in-depth description of the solutions available for gathering tactile data, obtaining aforementioned tactile information from the data and effectively using the same in various robotic tasks. The efforts during last four decades or so have yielded a wide spectrum of tactile sensing technologies and engineered solutions for both intrinsic and extrinsic touch sensors. Nowadays, new materials and structures are being explored for obtaining robotic skin with physical features like bendable, conformable, and stretchable. Such features are important for covering various body parts of robots or 3D surfaces. Nonetheless, there exist many more hardware, software and application related issues that must be considered to make tactile sensing an effective component of future robotic platforms. This book presents an in-depth analysis of various system related issues and presents the trade-offs one may face while developing an effective tactile sensing system. For this purpose, human touch sensing has also been explored. The design hints coming out of the investigations into human sense of touch can be useful in improving the effectiveness of tactile sensory modality in robotics and other machines. Better integration of tactile sensors on a robot’s body is prerequisite for the effective utilization of tactile data. The concept of semiconductor devices based sensors is an interesting one, as it allows compact and fast tactile sensing systems with capabilities such as human-like spatio-temporal resolution. This book presents a comprehensive description of semiconductor devices based tactile sensing. In particular, novel Piezo Oxide Semiconductor Field Effect Transistor (POSFET) based approach for high resolution tactile sensing has been discussed in detail. Finally, the extension of semiconductors devices based sensors concept to large and flexile areas has been discussed for obtaining robotic or electronic skin. With its multidisciplinary scope, this book is suitable for graduate students and researchers coming from diverse areas such robotics (bio-robots, humanoids, rehabilitation etc.), applied materials, humans touch sensing, electronics, microsystems, and instrumentation. To better explain the concepts the text is supported by large number of figures.

Robot Tactile Sensing

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Author : R. Andrew Russell
language : en
Publisher:
Release Date : 1990

Robot Tactile Sensing written by R. Andrew Russell and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 1990 with Computers categories.

This work introduces tactile sensing for those engaged in advanced, sensor-based robotics, with special reference to problems of addressing arrays of sensor elements. It describes tactile sensors to register contact, surface profile, thermal properties and other tactile sensing modes. The use of robot manipulators to provide mobility for tactile sensors, and techniques for applying tactile sensing in robotic manipulation and recognition tasks are also covered. The various applications of this technology are discussed, and robot hands and grips are detailed.

Tactile Sensors For Robotic Applications

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Author : Salvatore Pirozzi
language : en
Publisher: MDPI
Release Date : 2021-03-17

Tactile Sensors For Robotic Applications written by Salvatore Pirozzi and has been published by MDPI this book supported file pdf, txt, epub, kindle and other format this book has been release on 2021-03-17 with Technology & Engineering categories.

The book covers different aspects: - Innovative technologies for tactile sensors development - Tactile data interpretation for control purposes - Alternative sensing technologies - Multi-sensor systems for grasping and manipulation - Sensing solutions for impaired people

Tactile Sensing Skill Learning And Robotic Dexterous Manipulation

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Author : Qiang Li
language : en
Publisher: Academic Press
Release Date : 2022-04-02

Tactile Sensing Skill Learning And Robotic Dexterous Manipulation written by Qiang Li and has been published by Academic Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2022-04-02 with Computers categories.

Tactile Sensing, Skill Learning and Robotic Dexterous Manipulation focuses on cross-disciplinary lines of research and groundbreaking research ideas in three research lines: tactile sensing, skill learning and dexterous control. The book introduces recent work about human dexterous skill representation and learning, along with discussions of tactile sensing and its applications on unknown objects' property recognition and reconstruction. Sections also introduce the adaptive control schema and its learning by imitation and exploration. Other chapters describe the fundamental part of relevant research, paying attention to the connection among different fields and showing the state-of-the-art in related branches. The book summarizes the different approaches and discusses the pros and cons of each. Chapters not only describe the research but also include basic knowledge that can help readers understand the proposed work, making it an excellent resource for researchers and professionals who work in the robotics industry, haptics and in machine learning. - Provides a review of tactile perception and the latest advances in the use of robotic dexterous manipulation - Presents the most detailed work on synthesizing intelligent tactile perception, skill learning and adaptive control - Introduces recent work on human's dexterous skill representation and learning and the adaptive control schema and its learning by imitation and exploration - Reveals and illustrates how robots can improve dexterity by modern tactile sensing, interactive perception, learning and adaptive control approaches

Advances In Intelligent Autonomous Systems

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Author : S.G. Tzafestas
language : en
Publisher: Springer Science & Business Media
Release Date : 1999-03-31

Advances In Intelligent Autonomous Systems written by S.G. Tzafestas and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 1999-03-31 with Technology & Engineering categories.

This collection of twenty-three timely contributions covers a well-selected repertory of topics within the autonomous systems field. The book discusses a range of design, construction, control, and operation problems along with a multiplicity of well-established and novel solutions.

Tactile Robotics

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Author : Qiang Li
language : en
Publisher: Academic Press
Release Date : 2025-07-01

Tactile Robotics written by Qiang Li and has been published by Academic Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2025-07-01 with Computers categories.

Tactile Robotics structures and unifies the information processing of tactile data—not only for extracting object property but also for controller computation. This book systematically introduces tactile sensors, perception, and control, providing readers with no prior background with a better sense and knowledge of robotics and machine learning and helping users understand the concept of tactile robots and their various applications for use in real-world scenarios. - Covers basic concepts in robotics and machine learning - Includes essential knowledge for robotic manipulation tasks when tactile information is required - Employs numerous applications to illustrate how tactile robotics can be used in real robotic manipulation tasks - Defines how to structure the knowledge that can be extracted from raw tactile data

Intelligent Assembly Systems

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Author : M H Lee
language : en
Publisher: World Scientific
Release Date : 1995-11-16

Intelligent Assembly Systems written by M H Lee and has been published by World Scientific this book supported file pdf, txt, epub, kindle and other format this book has been release on 1995-11-16 with Computers categories.

This book deals with a key area of industrial robotics — the automation of small batch assembly. Assembly imparts enormous added value but turns out to be extraordinarily difficult to automate. The work presented here, all from the Centre for Intelligent Systems at the University of Wales, Aberystwyth, addresses this issue and shows ways in which the difficulties may be reduced through systematic architectural designs and specific structures for interfacing and controlling sensory-actuation systems. The book develops three main themes: a task-centred approach to robotic assembly, explicit reasoning techniques for fault diagnosis and error handling; and sensor-actuator integration methods. These are vital topics for those concerned with flexible automation and robotics.

Highly Redundant Sensing In Robotic Systems

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Author : Julius T. Tou
language : en
Publisher: Springer Science & Business Media
Release Date : 2012-12-06

Highly Redundant Sensing In Robotic Systems written by Julius T. Tou and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2012-12-06 with Computers categories.

Design of intelligent robots is one of the most important endeavors in robotics research today. The key to intelligent robot design lies in sensory systems for robotic control and manipulation. In an unstructural environment, robotic sensing translates measurements and characteristics of the environment and working objects into useful information. A robotic system is usually equipped with a variety of sensors to perform redundant sensing and achieve data fusion. This book contains revised versions of papers presented at a NATO Advanced Research Workshop held in Florida in September 1989 within the activities of the NATO Special Programme on Sensory Systems for Robotic Control. The fundamental issues addressed in this volume were: - Theory and techniques, including knowledge-based systems, geometrical fusion, Boolean fusion, probabilistic fusion, feature-based fusion, error-estimation approach, and Markov process modeling. - General concepts, including microscopic redundancy at the sensory element level, macroscopic redundancy at the sensory system level, parallel redundancy, and standby redundancy. - Implementation and application, including robotic control, sensory technology, robotic assembly, robot fingers, sensory signal processing, sensory system integration, and PAPIA architecture. - Biological analogies, including neural nets, pattern recognition, low-level fusion, and motor learning.