Title :
A neural controller for a robotic hand with artificial tactile skins in grasping tasks
Author :
Pedreño-Molina, J.L. ; Guerrero-González, A. ; López-Coronado, J.
Author_Institution :
Univ. Politecnica de Cartagena, Spain
Abstract :
In this paper, artificial tactile skins have been applied to a grasping task which require a certain precision in the determination of the object contact position with the surfaces and the pressure exercised in each point of the same. This design allows to process the force distribution maps in order to do precise maneuvers of grasping
Keywords :
force control; manipulators; neurocontrollers; tactile sensors; artificial tactile skin; force control; force distribution maps; grasping tasks; neural controller; object contact position; robotic hand; Control systems; Fingers; Force control; Grasping; Grippers; Robot control; Robot sensing systems; Sensor arrays; Skin; Tactile sensors;
Conference_Titel :
Systems, Man, and Cybernetics, 2000 IEEE International Conference on
Conference_Location :
Nashville, TN
Print_ISBN :
0-7803-6583-6
DOI :
10.1109/ICSMC.2000.884982
