TacVision - Integration of visual and tactile control

Integration of visual and tactile control

The goal of TacVision project is to develop methods that use both visual and tactile feedback to control robotic manipulators. The aim is to increase the robustness and efficiency of robot control using the integration of multiple sensors. In particular, the transition from vision based to tactile control will be investigated.

The project is a joint effort of the Mechatronics and Virtual Engineering group and Machine Vision and Pattern Recognition group of Lappeenranta University of Technology.

Contact information

Mechatronics and Virtual Engineering group [www]
Heikki Handroos E-Mail Professor, Principal Project leader
Liu Yong E-Mail [www] Senior Researcher

Machine Vision and Pattern Recognition group [www]
Heikki Kälviäinen E-Mail [www] Professor, Project leader
Ville Kyrki E-Mail [www] Professor
Olli Alkkiomäki E-Mail [www] Graduate Researcher

Partners

Academy of Finland [www]
Tekes [www]
Delfoi [www]
Proventia [www]

Links to other resources

Centre for Autonomous Systems, KTH, Stockholm [www]

Documentation

Do not hesitate to contact the authors in order to retrieve copies or reprints of the following publications.

  1. Articles in international scientific journals with referee practice

    1. Olli Alkkiomäki, Ville Kyrki, Yong Liu, Heikki Handroos, and Heikki Kälviäinen.
      Complementing Visual Tracking of Moving Targets by Fusion of Tactile Sensing.
      Robotics and Autonomous Systems, accepted.

  2. Articles in scientific conference proceedings with referee practice

    1. Olli Alkkiomäki, Ville Kyrki, Heikki Kälviäinen, Yong Liu, and Heikki Handroos.
      Online trajectory following with position based force/vision control.
      In International Conference on Advanced Robotics, ICAR 2009, Munchen, Germany, June, 2009.

    2. Olli Alkkiomäki, Ville Kyrki, Heikki Kälviäinen, Yong Liu, and Heikki Handroos.
      Multi-modal force/vision sensor fusion in 6-DOF pose tracking.
      In International Conference on Advanced Robotics, ICAR 2009, Munchen, Germany, June, 2009.

    3. Olli Alkkiomäki, Ville Kyrki, Heikki Kälviäinen, Yong Liu, and Heikki Handroos.
      Challenges of vision for real-time sensor based control.
      In Canadian Conference on Computer and Robot Vision, CRV 2008, Windsor, Ontario, Canada, 28-30 May 2008.

    4. Yong Liu, Heikki Handroos, Olli Alkkiomäki, Ville Kyrki, and Heikki Kälviäinen.
      Development of a Hybrid Position/Force Controlled Hydraulic Parallel Robot for Impact Treatment.
      In International Conference on Machine Automation, Japan, 2008.

    5. Olli Alkkiomäki, Ville Kyrki, Yong Liu, Heikki Handroos, and Heikki Kälviäinen.
      Moving camera moving target tracking by integration of vision and encoder data.
      In International Conference on Advanced Robotics, ICAR 2007, Jeju, Korea, 2007.

    6. Yong Liu, Heikki Handroos, Olli Alkkiomäki, Ville Kyrki, and Heikki Kälviäinen.
      Tracking of a moving target by combination of force/velocity control based on vision for a hydraulic manipulator.
      In IEEE International Conference on Mechatronics and Automation, ICMA 2007, Harbin, China, August 5-8 2007.

    7. Olli Alkkiomäki, Ville Kyrki, Heikki Kälviäinen, Yong Liu, and Heikki Handroos.
      Smooth transition from motion to force control in robotic manipulation using vision.
      In International Conference on Control, Automation, Robotics and Vision, pages 2037-2042, Singapore, December 2006.