2010 IEEE International Conference on Robotics and Automation :: Anchorage, Alaska, USA :: May 3 - 8, 2010

ICRA'10 Paper Abstract


Paper WeA6.3

Chitta, Sachin (Willow Garage Inc.), Piccoli, Matthew (University of Pennsylvania), Sturm, Jürgen (University of Freiburg)

Tactile Object Class and Internal State Recognition for Mobile Manipulation

Scheduled for presentation during the Regular Sessions "Haptics and Human Augmentation" (WeA6), Wednesday, May 5, 2010, 09:00−09:15, Egan Center Lower Level Room 2

2010 IEEE International Conference on Robotics and Automation, May 3-8, 2010, Anchorage, Alaska, USA

This information is tentative and subject to change. Compiled on June 22, 2018

Keywords Force and Tactile Sensing, Grasping, Mobile Manipulation


Tactile information is valuable in determining properties of objects that are inaccessible from visual perception. In this work, we present a tactile perception strategy that allows any mobile robot with tactile sensors in its gripper to measure a set of generic tactile features while grasping an object. We propose a hybrid velocity-force controller, that grasps an object safely and reveals at the same time its deformation properties. As an application, we show that a robot can use these features to distinguish the open/closed and fill state of bottles and cans -- purely from tactile sensing -- from a small training set. To prove that this is a hard recognition problem, we also conducted a comperative study with 17 human test subjects. We found that the recognition rate of the human subjects were comparable to our robotic gripper.



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