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An Integrated System for Dextrous Manipulation
This paper describes an integrated system for dextrous manipulation using a Utah-MIT hand that allows one to look at the higher levels of control in a number of grasping and manipulation tasks. The system consists of a number of low-level system primitives for grasping, integrated hand and robotic arm movement, tactile sensors mounted on the fingertips, sensing primitives to utilize joint position, tendon force and tactile array feedback, and a high-level programming environment that allows task level scripts to be created for grasping and manipulation tasks. A number of grasping and manipulation tasks are described that have been implemented with this system
Grasping Strategy and Control Algorithm of Two Robotic Fingers Equipped with Optical Three-Axis Tactile Sensors
AbstractThis paper presents grasping strategy of robot fingers based on tactile sensing information acquired by optical three-axis tactile sensor. We developed a novel optical three-axis tactile sensor system based on an optical waveguide transduction method capable of acquiring normal and shearing forces. The sensors are mounted on fingertips of two robotic fingers. To enhance the ability of recognizing and manipulating objects, we designed the robot control system architecture comprised of connection module, thinking routines, and a hand/finger control modules. We proposed tactile sensing-based control algorithm in the robot finger control system to control fingertips movements by defining optimum grasp pressure and perform re-push movement when slippage was detected. Verification experiments were conducted whose results revealed that the finger's system managed to recognize the stiffness of unknown objects and complied with sudden changes of the object's weight during object manipulation tasks
GelSlim: A High-Resolution, Compact, Robust, and Calibrated Tactile-sensing Finger
This work describes the development of a high-resolution tactile-sensing
finger for robot grasping. This finger, inspired by previous GelSight sensing
techniques, features an integration that is slimmer, more robust, and with more
homogeneous output than previous vision-based tactile sensors. To achieve a
compact integration, we redesign the optical path from illumination source to
camera by combining light guides and an arrangement of mirror reflections. We
parameterize the optical path with geometric design variables and describe the
tradeoffs between the finger thickness, the depth of field of the camera, and
the size of the tactile sensing area. The sensor sustains the wear from
continuous use -- and abuse -- in grasping tasks by combining tougher materials
for the compliant soft gel, a textured fabric skin, a structurally rigid body,
and a calibration process that maintains homogeneous illumination and contrast
of the tactile images during use. Finally, we evaluate the sensor's durability
along four metrics that track the signal quality during more than 3000 grasping
experiments.Comment: RA-L Pre-print. 8 page
More Than a Feeling: Learning to Grasp and Regrasp using Vision and Touch
For humans, the process of grasping an object relies heavily on rich tactile
feedback. Most recent robotic grasping work, however, has been based only on
visual input, and thus cannot easily benefit from feedback after initiating
contact. In this paper, we investigate how a robot can learn to use tactile
information to iteratively and efficiently adjust its grasp. To this end, we
propose an end-to-end action-conditional model that learns regrasping policies
from raw visuo-tactile data. This model -- a deep, multimodal convolutional
network -- predicts the outcome of a candidate grasp adjustment, and then
executes a grasp by iteratively selecting the most promising actions. Our
approach requires neither calibration of the tactile sensors, nor any
analytical modeling of contact forces, thus reducing the engineering effort
required to obtain efficient grasping policies. We train our model with data
from about 6,450 grasping trials on a two-finger gripper equipped with GelSight
high-resolution tactile sensors on each finger. Across extensive experiments,
our approach outperforms a variety of baselines at (i) estimating grasp
adjustment outcomes, (ii) selecting efficient grasp adjustments for quick
grasping, and (iii) reducing the amount of force applied at the fingers, while
maintaining competitive performance. Finally, we study the choices made by our
model and show that it has successfully acquired useful and interpretable
grasping behaviors.Comment: 8 pages. Published on IEEE Robotics and Automation Letters (RAL).
Website: https://sites.google.com/view/more-than-a-feelin
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