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Improving Grasp Performance Using In-Hand Proximity and Dynamic Tactile Sensing

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2016 International Symposium on Experimental Robotics (ISER 2016)

Part of the book series: Springer Proceedings in Advanced Robotics ((SPAR,volume 1))

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Abstract

We demonstrate how low-cost in-hand proximity and dynamic tactile sensing can dramatically improve the reliability of basic manipulation tasks. We use an array of infrared proximity sensors embedded in a transparent elastic polymer and an accelerometer in the robot’s wrist to extract proximity and dynamic tactile information that is inspired by the mechanoreceptors in the human skin. We break the manipulation task down into eight distinct phases and show (1) how proximity information can be used to improve reliability of picking and placing objects, and (2) how dynamic tactile information can be used to discern different phases of grasping. We present experimental results using a Baxter robot involved in a tower construction task.

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Author information

Authors and Affiliations

  1. Department of Computer Science, University of Colorado at Boulder, Boulder, USA

    Radhen Patel, Jorge Cañardo Alastuey & Nikolaus Correll

Authors
  1. Radhen Patel
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  2. Jorge Cañardo Alastuey
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  3. Nikolaus Correll
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Corresponding author

Correspondence to Radhen Patel .

Editor information

Editors and Affiliations

  1. Gra Sch of Info Sci&Tech,Dept of MechInf, The University of Tokyo Gra Sch of Info Sci&Tech,Dept of MechInf, Tokyo, Japan

    Dana Kulić

  2. Computer Science Department, Stanford University Computer Science Department, Stanford, California, USA

    Yoshihiko Nakamura

  3. Department of Electrical & Computer Engg, University of Waterloo Department of Electrical & Computer Engg, Waterloo, Ontario, Canada

    Oussama Khatib

  4. Department of Mechanical Systems Enginee, Tokyo University of Agriculture and Tech Department of Mechanical Systems Enginee, Tokyo, Japan

    Gentiane Venture

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Patel, R., Alastuey, J.C., Correll, N. (2017). Improving Grasp Performance Using In-Hand Proximity and Dynamic Tactile Sensing. In: Kulić, D., Nakamura, Y., Khatib, O., Venture, G. (eds) 2016 International Symposium on Experimental Robotics. ISER 2016. Springer Proceedings in Advanced Robotics, vol 1. Springer, Cham. https://doi.org/10.1007/978-3-319-50115-4_17

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  • DOI: https://doi.org/10.1007/978-3-319-50115-4_17

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-50114-7

  • Online ISBN: 978-3-319-50115-4

  • eBook Packages: EngineeringEngineering (R0)

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