In-Hand Following of Deformable Linear Objects Using Dexterous Fingers with Tactile Sensing
arxiv(2024)
摘要
Most research on deformable linear object (DLO) manipulation assumes rigid
grasping. However, beyond rigid grasping and re-grasping, in-hand following is
also an essential skill that humans use to dexterously manipulate DLOs, which
requires continuously changing the grasp point by in-hand sliding while holding
the DLO to prevent it from falling. Achieving such a skill is very challenging
for robots without using specially designed but not versatile end-effectors.
Previous works have attempted using generic parallel grippers, but their
robustness is unsatisfactory owing to the conflict between following and
holding, which is hard to balance with a one-degree-of-freedom gripper. In this
work, inspired by how humans use fingers to follow DLOs, we explore the usage
of a generic dexterous hand with tactile sensing to imitate human skills and
achieve robust in-hand DLO following. To enable the hardware system to function
in the real world, we develop a framework that includes Cartesian-space
arm-hand control, tactile-based in-hand 3-D DLO pose estimation, and
task-specific motion design. Experimental results demonstrate the significant
superiority of our method over using parallel grippers, as well as its great
robustness, generalizability, and efficiency.
更多查看译文
AI 理解论文
溯源树
样例
生成溯源树,研究论文发展脉络
Chat Paper
正在生成论文摘要