Compliant In-hand Rolling Manipulation Using Tactile Sensing
We investigate in-hand rolling manipulation using a multifingered robot hand, where each finger is compliant and equipped with a tactile fingertip providing contact location and wrench information. We derive the equations of motion for compliant quasistatic in-hand rolling manipulation and formulate a fingertip rolling manipulation controller for multiple fingers to achieve a desired object twist within a grasp. The contact mechanics are demonstrated in simulation and the controller is tested on an experimental robot system.
Code (0)
등록된 구현이 없습니다.
Similar Papers 제목 키워드 기반
The utility of tactile force to autonomous learning of in-hand manipulation is task-dependent
Tactile sensors provide information that can be used to learn and execute manipulation tasks. Different tasks, however, might require different levels of sensory information; which in turn likely affect learning rates an…
VTAP Gripper: Synergizing Fingertip Sensing and a Visuo-Tactile Active Palm for Dexterous In-Hand Manipulation
This paper presents a tactile-reactive gripper that integrates a Visuo-Tactile Active Palm (VTAP) and compliant, reconfigurable fingers equipped with tactile array sensors. The design exploits structured finger-palm syne…
Visual LocalizationSurface-based Manipulation Using Tunable Compliant Porous-Elastic Soft Sensing
There is a growing need for soft robotic platforms that perform gentle, precise handling of a wide variety of objects. Existing surface-based manipulation systems, however, lack the compliance and tactile feedback needed…
MimicTouch: Leveraging Multi-modal Human Tactile Demonstrations for Contact-rich Manipulation
Tactile sensing is critical to fine-grained, contact-rich manipulation tasks, such as insertion and assembly. Prior research has shown the possibility of learning tactile-guided policy from teleoperated demonstration dat…
Contact-rich ManipulationImitation LearningLearning to Executereinforcement-learningDeformable In-Hand Slip-Aware Tactile Sensor with Integrated Velocity, Force/Torque, and Pressure Map Sensing
This paper introduces a novel tactile sensor for in-hand manipulation with slip-aware control that integrates velocity, force/torque, and pressure map sensing into a single device with a deformable contact pad. To the be…