Tactile-based control in robotic manipulation

• Main Author: Tay, Daryl
• Other Authors: Hu, Guoqiang
• Format: Final Year Project
• Language: English
• Published: Nanyang Technological University 2021
• Subjects: Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics
• Online Access: https://hdl.handle.net/10356/149013
• Institution: Nanyang Technological University

There have been many studies being done on tactile based grasping and object manipulation, but could they be implemented to make a robot interact more intuitively with the object? Our project worked on creating a tactile based control for robotic manipulation to aid creating robots that would be useful in daily life. We used the open-source Robotic Operating System (ROS) as well as machine learning to implement the control system. We found that the lack of proper standardisation of tactile sensors hindered the development of this project. Finding a way to solve this method would likely aid in the creation of robots with better tactile sensing.