Survey of Visual and Force/Tactile Control of Robots for Physical Interaction in Spain

Abstract

Sensors provide robotic systems with the information required to perceive the changes that happen in unstructured environments and modify their actions accordingly. The robotic controllers which process and analyze this sensory information are usually based on three types of sensors (visual, force/torque and tactile) which identify the most widespread robotic control strategies: visual servoing control, force control and tactile control. This paper presents a detailed review on the sensor architectures, algorithmic techniques and applications which have been developed by Spanish researchers in order to implement these mono-sensor and multi-sensor controllers which combine several sensors.

Position-based visual servo control of autonomous robotic manipulators

“…The eye-in-hand camera is mounted on the end-effector to provide a close and precise view of the target while the eye-to-hand camera is installed beside the robot to monitor the whole workspace with a broad and relative less accurate scene of the target [27]. Based on the errors employed in control, the robotic visual servo may be categorized as: image-based, position-based, and hybrid visual servo [28,29].…”

Review of Deep Reinforcement Learning-Based Object Grasping: Techniques, Open Challenges, and Recommendations

“…vision and touch) is to help during the interaction between the robot's hand and an object within the robot's workspace. Global and local information can be acquired from sensors [1]. Global information is provided by vision sensors and used to determine the location of objects in the environment.…”

Manipulation of Unknown Objects to Improve the Grasp Quality Using Tactile Information

“…Tactile sensing systems based on different sensing techniques have been developed during the last decades in order to equip robots with tactile feedback [ 24 , 25 ]. Tactile feedback provides relevant information in many robotics applications [ 26 ].…”