Robotic Tactile Sensing
Final rept. Dec 1983-May 1988
CASE WESTERN RESERVE UNIV CLEVELAND OH
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The overall goal of the research program was to investigate the utility of tactile sensing in the control of manipulation. For the most part, the work at Case Western Reserve Univ. was oriented toward the theoretical and conceptual issues related to the problem domain the Lord Corporation took a more pragmatic approach in attempting to develop a working experimental system which could demonstrate dexterous manipulation in a robotic assembly task. The scope of work can generally be divided into tow areas control and sensing. The control work can further be divided into lower level servo control and higher level intelligent control. These concepts can be effectively integrated within a multilayer hierarchical control structure this idea has formed the basis for much of our theoretical and experimental work. Keywords Robotics, Control, Tactile sensing.