Realtime State Estimation with Tactile and Visual Sensing. Application to Planar Manipulation
Name
py-icra18.pdf
Description
Accepted version
Size
3.45 MB
Format
Adobe PDF
Checksum (MD5)
83935c171668b79852753e5700470689
Author(s)
Yu, Kuan-Ting
Rodriguez Garcia, Alberto
Date Issued
September 2018
Journal
IEEE International Conference on Robotics and Automation (ICRA)
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Yu, Kuan-Ting and Alberto Rodriguez. "Realtime State Estimation with Tactile and Visual Sensing. Application to Planar Manipulation." IEEE International Conference on Robotics and Automation (ICRA), May 2018, Brisbane, Australia, Institute of Electrical and Electronics Engineers (IEEE), September 2018. © 2018 IEEE
Version
Author's final manuscript
Abstract
Accurate and robust object state estimation enables successful object manipulation. Visual sensing is widely used to estimate object poses. However, in a cluttered scene or in a tight workspace, the robot's end-effector often occludes the object from the visual sensor. The robot then loses visual feedback and must fall back on open-loop execution. In this paper, we integrate both tactile and visual input using a framework for solving the SLAM problem, incremental smoothing and mapping (iSAM), to provide a fast and flexible solution. Visual sensing provides global pose information but is noisy in general, whereas contact sensing is local, but its measurements are more accurate relative to the end-effector. By combining them, we aim to exploit their advantages and overcome their limitations. We explore the technique in the context of a pusher-slider system. We adapt iSAM's measurement cost and motion cost to the pushing scenario, and use an instrumented setup to evaluate the estimation quality with different object shapes, on different surface materials, and under different contact modes.
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/icra.2018.8463183
