[2605.20392] VBT-MPC: Vision-Based Tactile MPC for Contour Following
[Submitted on 19 May 2026]
Title:VBT-MPC: Vision-Based Tactile MPC for Contour Following
View a PDF of the paper titled VBT-MPC: Vision-Based Tactile MPC for Contour Following, by Edison Velasco-Sanchez and 3 other authors
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Abstract:Tactile sensing plays a key role in robotic manipulation, particularly in tasks like surface inspection. Successful execution requires maintaining contact while accurately tracking object contours. In this work, we propose a Vision-Based Tactile Model Predictive Control (VBT-MPC) framework for robotic contour following using a Vision-Based Tactile Sensor (VBTS) mounted in an eye-in-hand configuration. The proposed controller operates directly in contour features space, thereby avoiding the need for separate pose-estimation modules or complex force-control architectures. We further compare our VBT-MPC with visual-servoing strategies adapted to tactile features, and evaluate contour tracking on objects with diverse geometries and materials in both simulation and real-world experiments.
Comments: This article has been accepted for publication in IEEE Robotics and Automation Letters. This is a preprint version. This work was supported by the Interreg-VI Sudoe and European Regional Development Funds through the REMAIN Project under Grant S1/1.1/E0111
Subjects:
Robotics (cs.RO)
Cite as: arXiv:2605.20392 [cs.RO]
(or arXiv:2605.20392v1 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2605.20392
arXiv-issued DOI via DataCite (pending registration)
Submission history
From: Edison Velasco-Sanchez [view email] [v1] Tue, 19 May 2026 18:40:45 UTC (2,682 KB)
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