Compliant Physical Interaction based on External Vision-Force Control and Tactile-Force Combination

International audienceThis paper presents external vision-force control and force-tactile integration in three different examples of multisensor integration for robotic manipulation and execution of everyday tasks, based on a general framework, presented in [1], that enables sensor-based compliant physical interaction of the robot with the environment. The first experiment is a door opening task where a mobile manipulator has to pull open the handle with a parallel jaw gripper by using vision and force sensors in a novel external vision-force coupling approach [2] where the combination is done at the control level; the second one is another vision-force door opening task, but including a sliding mechanism and a different robot, endowed with a three-fingered hand; finally, the third task is to grasp a book from a bookshelf by means of tactile and force integration. The purpose of this paper is twofold: first, to show how vision and force modalities can be combined at the control level by means of an external force loop. And, second, to show how the sensor-based manipulation framework proposed in [1] can be easily applied to very different physical interaction tasks in the real world, allowing for dependable and versatile manipulatio