Tactile sensing with a robotic manipulator

This is a picture of the tactile sensor mounted on the gripper.




Heres a vdo of what ive been slaving on for my thesis project. Each movement and timing and sensing is done in C/C++. It uses the tactile sensor to detect the object by searchign the workspace systematically. When detected, it stores the coordinates, move the arm to the point. It then closes the gripper once to align the cylinder to the center, rotates the gripper 90 degrees then closes it to pick it up. So much time spent just to do something to simple... irony.