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Tactile Dexterity: Manipulation Primitives with Tactile Feedback
Name
2002.03236.pdf
Description
Submitted version
Size
5.66 MB
Format
Adobe PDF
Checksum (MD5)
6b59b78efdced91bbac2981b91195cf6
Author(s)
Hogan, Francois R
Ballester, Jose
Dong, Siyuan
Rodriguez, Alberto
Date Issued
2020
Journal
Proceedings - IEEE International Conference on Robotics and Automation
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Hogan, Francois R, Ballester, Jose, Dong, Siyuan and Rodriguez, Alberto. 2020. "Tactile Dexterity: Manipulation Primitives with Tactile Feedback." Proceedings - IEEE International Conference on Robotics and Automation.
Version
Original manuscript
Abstract
© 2020 IEEE. This paper develops closed-loop tactile controllers for dexterous robotic manipulation with a dual-palm robotic system. Tactile dexterity is an approach to dexterous manipulation that plans for robot/object interactions that render interpretable tactile information for control. We divide the role of tactile control into two goals: 1) control the contact state between the end-effector and the object (contact/no-contact, stick/slip) by regulating the stability of planned contact configurations and monitoring undesired slip events; and 2) control the object state by tactile-based tracking and iterative replanning of the object and robot trajectories.Key to this formulation is the decomposition of manipulation plans into sequences of manipulation primitives with simple mechanics and efficient planners. We consider the scenario of manipulating an object from an initial pose to a target pose on a flat surface while correcting for external perturbations and uncertainty in the initial pose of the object. We experimentally validate the approach with an ABB YuMi dual-arm robot and demonstrate the ability of the tactile controller to react to external perturbations.
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike
Persistent DSpace Link
DOI of Published Version
10.1109/ICRA40945.2020.9196976
