Survey of Visual and ForceTactile Control of Robots for Physical Interaction in Spain 英文参考文献.docVIP

Sensors 2009, 9, 9689-9733; doi:10.3390/OPEN ACCESS sensors ISSN 1424-8220 /journal/sensors Review Survey of Visual and Force/Tactile Control of Robots for Physical Interaction in Spain Gabriel J. Garcia *, Juan A. Corrales, Jorge Pomares and Fernando Torres Physics, Systems Engineering and Signal Theory Department, University of Alicante, PO Box 99, 03080, Alicante, Spain; E-Mails: jcorrales@ua.es (J.A.C.); jpomares@ua.es (J.P.); Fernando.Torres@ua.es (F.T.) * Author to whom correspondence should be addressed; E-Mail: gjgg@ua.es; Tel.: +34-965-903-400, ext.: 2440; Fax: +34-965-909-750. Received: 14 October 2009; in revised form: 17 November 2009 / Accepted: 18 November 2009 / Published: 2 December 2009 Abstract: Sensors provide robotic systems with the information required to perceive the changes that happen in unstructured environments and modify their actions accordingly. The robotic controllers which process and analyze this sensory information are usually based on three types of sensors (visual, force/torque and tactile) which identify the most widespread robotic control strategies: visual servoing control, force control and tactile control. This paper presents a detailed review on the sensor architectures, algorithmic techniques and applications which have been developed by Spanish researchers in order to implement these mono-sensor and multi-sensor controllers which combine several sensors. Keywords: visual servoing; force control; tactile sensors; multi-sensor control; robotics 1. Introduction One of the main challenges in current research on robotics is the perception of the environment [1]. The first approaches developed to solve this problem were based on the definition of a priori models of the environment and the robot as precise as possible. This solution is only applicable when there are no changes in the environment and the precision of the model is sufficient for controlling the robot withou