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Abstract--This paper presents two experiments with Electric Field Servoing for robotic manipulation. In the first, a robot
 

Summary: Abstract--This paper presents two experiments with Electric
Field Servoing for robotic manipulation. In the first, a robot
hand pre-shapes to the geometry and pose of objects to be
grasped, by servoing each finger according to the values on EF
sensors built in to each finger. In the second, a 7 degree of
freedom arm aligns itself in 2 dimensions with a target object
using electric field measurements as the error signal. This
system also allows the end effector to dynamically track the
target object as it is moved.
I. INTRODUCTION
Visual Servoing[1] is the use of feedback from a machine
vision system to correct the position of a robot in order to
increase task accuracy. This paper explores the use of
Electric Field Pretouch[2] as the feedback signal for closed
loop control in robotic manipulation tasks. While it is
possible to solve a compute-intensive inverse problem to
infer explicit geometrical information from an array of
electric field measurements[3], this paper shows that useful
results can be achieved using closed loop control schemes
based on electric field sensor values that are subject to only

  

Source: Anderson, Richard - Department of Computer Science and Engineering, University of Washington at Seattle

 

Collections: Computer Technologies and Information Sciences