تقرير
Tactile-Driven Gentle Grasping for Human-Robot Collaborative Tasks
| العنوان: | Tactile-Driven Gentle Grasping for Human-Robot Collaborative Tasks |
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| المؤلفون: | Ford, Christopher J., Li, Haoran, Lloyd, John, Catalano, Manuel G., Bianchi, Matteo, Psomopoulou, Efi, Lepora, Nathan F. |
| سنة النشر: | 2023 |
| المجموعة: | Computer Science |
| مصطلحات موضوعية: | Computer Science - Robotics |
| الوصف: | This paper presents a control scheme for force sensitive, gentle grasping with a Pisa/IIT anthropomorphic SoftHand equipped with a miniaturised version of the TacTip optical tactile sensor on all five fingertips. The tactile sensors provide high-resolution information about a grasp and how the fingers interact with held objects. We first describe a series of hardware developments for performing asynchronous sensor data acquisition and processing, resulting in a fast control loop sufficient for real-time grasp control. We then develop a novel grasp controller that uses tactile feedback from all five fingertip sensors simultaneously to gently and stably grasp 43 objects of varying geometry and stiffness, which is then applied to a human-to-robot handover task. These developments open the door to more advanced manipulation with underactuated hands via fast reflexive control using high-resolution tactile sensing. Comment: Manuscript accepted to ICRA 2023. 6+n pages, 7 figures |
| نوع الوثيقة: | Working Paper |
| URL الوصول: | http://arxiv.org/abs/2303.09346 |
| رقم الأكسشن: | edsarx.2303.09346 |
| قاعدة البيانات: | arXiv |
| الوصف غير متاح. |