The flexibilization of the end-effector orientation constraint is critical in various robotic tasks, in particular when approaching surfaces of unknown objects and when unexpected contacts occur. This paper presents the use of a bioinspired multimodal tactile sensing module for tasks requiring knowledge about the inclination of a surface. The advantage of this module is that it can detect the pitch of the surface even though the pitch of the end-effector that carries the module during exploration is kept constant. Such flexibilization is achieved due to the compliant nature of the sensing module, its inner organization and the placement of embedded sensors.

Additional Metadata
Keywords Compliant structure, MARG, Multimodal sensing, Pressure sensor, Surface inclination, Tactile sensing
Persistent URL dx.doi.org/10.1109/ROSE.2019.8790433
Conference 13th IEEE International Symposium on Robotic and Sensors Environments, ROSE 2019
Citation
De Oliveira, T.E.A. (Thiago Eustaquio Alves), Da Fonseca, V.P. (Vinicius Prado), Lima, B.M.R. (Bruno Monteiro Rocha), Cretu, A.M, & Petriu, M. (M.). (2019). End-effector approach flexibilization in a surface approximation task using a bioinspired tactile sensing module. In IEEE International Symposium on Robotic and Sensors Environments, ROSE 2019 - Proceedings. doi:10.1109/ROSE.2019.8790433