Tactile Dexterity: Manipulation Primitives with Tactile Feedback
Francois R. Hogan,Jose Ballester,Siyuan Dong,Alberto Rodriguez,Francois R. Hogan,Jose Ballester,Siyuan Dong,Alberto Rodriguez
This paper develops closed-loop tactile controllers for dexterous robotic manipulation with a dual-palm robotic system. Tactile dexterity is an approach to dexterous manipulation that plans for robot/object interactions that render interpretable tactile information for control. We divide the role of tactile control into two goals: 1) control the contact state between the end-effector and the objec...
