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Paper TuD09.6

Alcazar, Javier Adolfo (General Motors Research Laboratories), Barajas, Leandro (General Motors, R&D Center)

Estimating Object Grasp Sliding Via Pressure Array Sensing

Scheduled for presentation during the Regular Session "Sensing for manipulation" (TuD09), Tuesday, May 15, 2012, 17:45−18:00, Meeting Room 9 (Sa)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on December 11, 2017

Keywords Sensor Fusion, Force and Tactile Sensing, Grasping

Abstract

Advances in design and fabrication technologies are enabling the production and commercialization of sensor-rich robotic hands with skin-like sensor arrays. Robotic skin is poised to become a crucial interface between the robot embodied intelligence and the external world. The need to fuse and make sense out of data extracted from skin-like sensors is readily apparent. This paper presents a real-time sensor fusion algorithm that can be used to accurately estimate object position, translation and rotation during grasping. When an object being grasped moves across the sensor array, it creates a sliding sensation; the spatial-temporal sensations are estimated by computing localized slid vectors using an optical flow approach. These results were benchmarked against an L-inf Norm approach using a nominal known object trajectory generated by sliding and rotating an object over the sensor array using a second, high accuracy, industrial robot. Rotation and slid estimation can later be used to improve grasping quality and dexterity

 

 

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