Measuring contact points from displacements with a compliant, articulated robot hand

Koonjul, Gurdayal S.; Zeglin, Garth; Pollard, Nancy S.

doi:10.1109/icra.2011.5980463

Cited by 15 publications

(5 citation statements)

References 5 publications

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“…Similarly, restricting the motion to a graph limits the contact sensing. After a contact we might desire the robot to wiggle as a cheap motion to gather information, as previously applied to robot hands (Koonjul et al, 2011).…”

Section: Discussionmentioning

confidence: 99%

The blindfolded traveler’s problem: A search framework for motion planning with contact estimates

Saund¹,

Choudhury

Srinivasa

et al. 2023

The International Journal of Robotics Research

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We address the problem of robot motion planning under uncertainty where the only observations are through contact with the environment. Such problems are typically solved by planning optimistically assuming unknown space is free, moving along the planned path and re-planning if the robot collides. However this approach can be very inefficient, leading to many unnecessary collisions and unproductive motion. We propose a new formulation, the Blindfolded Traveler’s Problem (BTP), for planning on a graph containing edges with unknown validity, with true validity observed only through attempted traversal by the robot. The solution to a BTP is a policy indicating the next edge to attempt given previous observations and an initial belief. We prove that BTP is NP-complete and show that exact modeling of the belief is intractable, therefore we present several approximation-based policies and beliefs. For the policy we propose graph search with edge weights augmented by the probability of collision. For the belief representation we propose a weighted Mixture of Experts of Collision Hypothesis Sets and a Manifold Particle Filter. Empirical evaluation in simulation and on a real robot arm shows that our proposed approach vastly outperforms several baselines as well as a previous approach that does not employ the BTP framework.

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Section: Discussionmentioning

confidence: 99%

The blindfolded traveler’s problem: A search framework for motion planning with contact estimates

Saund¹,

Choudhury

Srinivasa

et al. 2023

The International Journal of Robotics Research

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show abstract

“…Prior work has used internal sensors to infer contact and pressure based on deformation of the gripper's surface [10], [11], [12], [13], [14], [15], [16], changes to gripper vibrations [17], deflection of the gripper's compliant joints [18], [19], [20], [21], and changes to the gripper's motion [22], [23]. We expect that our method can use similar information by observing a soft gripper with an external camera.…”

Section: Related Workmentioning

confidence: 93%

Visual Pressure Estimation and Control for Soft Robotic Grippers

Grady¹,

Collins²,

Brahmbhatt³

et al. 2022

Preprint

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“…This would allow for a low cost, yet reasonably efficient alternative to tactile sensors [8]. One should note that proprioceptive sensors have already been used to determine the location of contact points between a robotic finger and an unknown object but with fully actuated fingers, e.g., [20]- [24]. This paper aims at filling that gap and presenting algorithms usable with most architectures of underactuated fingers with compliant elements located at the interphalanx joints, with the objective of precisely locating a single contact on any phalanx after the proximal one.…”

Section: Introductionmentioning

confidence: 99%

Stiffness Analysis of Underactuated Fingers and Its Application to Proprioceptive Tactile Sensing

Belzile

Birglen

2016

IEEE/ASME Trans. Mechatron.

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Underactuation has become, in recent years, more and more prevalent in robotic fingers since it provides the latter with the ability to mechanically adapt to the shape of the objects seized. To improve the usually simplistic control schemes of these fingers, and possibly to provide force feedback or control, tactile sensors are typically used. However, another promising avenue, as presented in this paper, is rather to use information provided by proprioceptive (i.e., internal) sensors. Most interestingly, this can be done using only the torque and position sensors typically found attached to the actuator(s) of these fingers. Because a relationship exists between the stiffness of an underactuated finger as seen from its actuator and the contact locations on its phalanges, it is possible to estimate one from the other. In this paper, a proprioceptive tactile sensing algorithm based on this technique is presented. It is concluded that within certain theoretical and practical limits, it is possible to extract tactile data from a self-adaptive finger, namely position and magnitude of the contact forces, without actually using any physical tactile sensors.

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Measuring contact points from displacements with a compliant, articulated robot hand

Cited by 15 publications

References 5 publications

The blindfolded traveler’s problem: A search framework for motion planning with contact estimates

The blindfolded traveler’s problem: A search framework for motion planning with contact estimates

Visual Pressure Estimation and Control for Soft Robotic Grippers

Stiffness Analysis of Underactuated Fingers and Its Application to Proprioceptive Tactile Sensing

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