Manipulator control using force/torque and tactile sensing

The task of placing a parallelepiped object, held inside the gripper of a manipulator, on an unknown flat surface is considered. Three types of contact (point, line, and plane) can occur between the object and the surface. The point of contact is calculated from information obtained from the force/torque sensor under the assumptions that the shape of the object and its position inside the end-effector are known. The contact type is determined based on the position of the point of contact. The servoing strategy depends on the determined type of contact