Tactile Robot Programming: Transferring Task Constraints into Constraint-Based Unified Force-Impedance Control
Kübra Karacan,Robin Jeanne Kirschner,Hamid Sadeghian,Fan Wu,Sami Haddadin,Kübra Karacan,Robin Jeanne Kirschner,Hamid Sadeghian,Fan Wu,Sami Haddadin
Flexible manufacturing lines are required to meet the demand for customized and small batch-size products. Even though state-of-the-art tactile robots may provide the versatility for increased adaptability and flexibility, their potential is yet to be fully exploited. To support robotics deployment in manufacturing, we propose a task-based tactile robot programming paradigm that uses an object-cen...
