Manipulation and Active Sensing by Pushing Using Tactile Feedback
K. M. Lynch, H. Maekawa, and K. Tanie


We investigate manipulation and active sensing by a pushing control system using only tactile feedback. The equations of motion of a pushed object are derived using a model of the object's limit surface, and we design a control system to translate and orient objects. The effectiveness of the proposed controller is confirmed through simulation and experiments. Active sensing of the object's center of mass is described.