A General Visual-Impedance Framework for Effectively Combining Vision and Force Sensing in Feature Space

Robotic systems are increasingly used to work in dynamic and/or unstructured environments and to operate with a high degree of safety and autonomy. Consequently, they are often equipped with external sensors capable of perceiving the environment (e.g., cameras) and the contacts that may arise (e.g. force/torque sensors). This letter proposes a general framework for combining force and visual infor...