RoboCAP: Robotic Classification and Precision Pouring of Diverse Liquids and Granular Media with Capacitive Sensing
CoRR(2024)
摘要
Liquids and granular media are pervasive throughout human environments, yet
remain particularly challenging for robots to sense and manipulate precisely.
In this work, we present a systematic approach at integrating capacitive
sensing within robotic end effectors to enable robust sensing and precise
manipulation of liquids and granular media. We introduce the parallel-jaw
RoboCAP Gripper with embedded capacitive sensing arrays that enable a robot to
directly sense the materials and dynamics of liquids inside of diverse
containers, including some visually opaque. When coupled with model-based
control, we demonstrate that the proposed system enables a robotic manipulator
to achieve state-of-the-art precision pouring accuracy for a range of
substances with varying dynamics properties. Code, designs, and build details
are available on the project website.
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