This research is designed to make an important contribution toward the development of an intelligent general purpose robotic system capable of object location, identification, and manipulation through the judicious use of non-visual sensing modalities. Currently, robotic applications in manufacturing require a highly structured environment so that position control of the robot is sufficient for the task. In relatively unstructured environments sensors are required to provide information for feedback control of the robot. This research will seek to prove the feasibility of incorporating a robust, multi- purpose proximity sensing capability into an existing tactile sensor design with minimal modification. With the capability of close range proximity sensors located on the fingers and/or palm of the robot end effector, proper grasp rendezvous with objects in an unstructured environment can be assured. After contact is made, the high resolution tactile sensing capability of the integrated sensor system will verify the grasp and will provide feedback information for manipulation activities.
