Geometrically Consistent Tactile Servoing via Hybrid Force–Position Control at the Center of Pressure
Résumé
In robotics, traditional force control lacks local contact information. Tactile sensors provide rich feedback on physical interaction, but remain difficult to integrate consis- tently into real-time control loops. In this paper, we show that hybrid force–position control, when expressed at the Center of Pressure (CoP), becomes geometrically consistent with tactile sensing. Based on this insight, we formulate a tactile servoing approach that allows explicit control of contact pose and force at the CoP. Unlike conventional tactile servoing techniques, which are tightly coupled to a specific sensor and often treat the contact wrench as a disturbance to be rejected, our approach relies on a generic and physically grounded feature space. We derive a hybrid force-position control law based on the Jacobian at the CoP that naturally decouples force and mo- tion subspaces, ensuring geometric consistency during contact interaction. Real-world experiments on a robotic manipulator demonstrate robust contact maintenance and improved force tracking compared to standard image-based and pose-based controllers in a physical interaction regulation task.
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