Abstract:
Simulated worlds are important enablers and ac celerators of new algorithms for autonomous robot applications.
A framework for tactile servoing in the simulated world is
presented. This framework includes a general model of tactile
sensing arrays that can simulate the behavior of a real tactile
sensing array thanks to an empirical characterization proce dure. After obtaining the precise sensor model, different tactile
servoing schemes can be implemented in the framework by
controlling contact features, including points and lines extracted
from the simulated contact images. Several experiments have
been performed in order to guarantee the correspondence
between the simulated results generated by the framework and
the real ones executed with different sensors and robots.