Robotics and Autonomous Systems vol:6 issue:3 pages:283-295
In this paper, a gripper system, provided with tactile sensors, is described. Various ways of using tactile information have been explored. The work contains two parts. One is concerned with servo control aspects, where the tactile sensors were used as force sensors, together with a position transducer, to implement position and force hybrid control. The other part deals with tactile image processing, where slip detection, object localization and object recognition are discussed and implemented.