Simultaneous Tactile Estimation and Control of Extrinsic Contact
Name
2023-ICRA-Simultaneous Tactile Estimation and Control-final-prePrint.pdf
Description
Accepted version
Size
5.98 MB
Format
Adobe PDF
Checksum (MD5)
7cbd36e98616cff877bde19af634ef70
Author(s)
Kim, Sangwoon
Jha, Devesh K.
Romeres, Diego
Patre, Parag
Rodriguez, Alberto
Date Issued
May 29, 2023
Publisher
IEEE|2023 IEEE International Conference on Robotics and Automation (ICRA)
Citation
Kim, Sangwoon, Jha, Devesh K., Romeres, Diego, Patre, Parag and Rodriguez, Alberto. 2023. "Simultaneous Tactile Estimation and Control of Extrinsic Contact."
Version
Author's final manuscript
Abstract
We propose a method that simultaneously
estimates and controls extrinsic contact with tactile feedback.
The method enables challenging manipulation tasks that
require controlling light forces and accurate motions in
contact, such as balancing an unknown object on a thin rod
standing upright. A factor graph-based framework fuses a
sequence of tactile and kinematic measurements to estimate and
control the interaction between gripper-object-environment,
including the location and wrench at the extrinsic contact
between the grasped object and the environment and the grasp
wrench transferred from the gripper to the object. The same
framework simultaneously plans the gripper motions that make
it possible to estimate the state while satisfying regularizing
control objectives to prevent slip, such as minimizing the grasp
wrench and minimizing frictional force at the extrinsic contact.
We show results with sub-millimeter contact localization error
and good slip prevention even on slippery environments, for
multiple contact formations (point, line, patch contact) and
transitions between them. See supplementary video and results
at https://sites.google.com/view/sim-tact.
Description
2023 IEEE International Conference on Robotics and Automation (ICRA 2023) May 29 - June 2, 2023. London, UK
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
Creative Commons Attribution-Noncommercial-ShareAlike
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/icra48891.2023.10161158
