Fast Reflexive Grasping with a Proprioceptive Teleoperation Platform
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2208.04487.pdf
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Author(s)
SaLoutos, Andrew
Stanger–Jones, Elijah
Kim, Sangbae
Date Issued
October 23, 2022
Journal
2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Publisher
IEEE
Citation
A. SaLoutos, E. Stanger–Jones and S. Kim, "Fast Reflexive Grasping with a Proprioceptive Teleoperation Platform," 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Kyoto, Japan, 2022, pp. 6213-6220.
Version
Author's final manuscript
Abstract
We present a proprioceptive teleoperation system that uses a reflexive grasping algorithm to enhance the speed and robustness of pick-and-place tasks. The system consists of two manipulators that use quasi-direct-drive actuation to provide highly transparent force feedback. The end-effector has bimodal force sensors that measure 3-axis force information and 2-dimensional contact location. This information is used for anti-slip and re-grasping reflexes. When the user makes contact with the desired object, the re-grasping reflex aligns the gripper fingers with antipodal points on the object to maximize the grasp stability. The reflex takes only 150ms to correct for inaccurate grasps chosen by the user, so the user's motion is only minimally disturbed by the execution of the re-grasp. Once antipodal contact is established, the anti-slip reflex ensures that the gripper applies enough normal force to prevent the object from slipping out of the grasp. The combination of proprioceptive manipulators and reflexive grasping allows the user to complete teleoperated tasks with precision at high speed.
Description
2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) October 23-27, 2022, Kyoto, Japan
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
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Creative Commons Attribution-Noncommercial-Share Alike
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DOI of Published Version
https://doi.org/10.1109/iros47612.2022.9981383
