RSS 2020 Workshops: Visuotactile Sensors for Robust Manipulation - From Perception to Control
Meta
- Venue
- RSS
- Year
- 2020
Soft Manipulation
Soft grippers enhance the robustness of gripping, particularly for complex object geometries
- Compliance is a double-edged sword
- We may need to sense what actually happened from “our” side of the compliance
- We cannot assume post-grasp pose of objects
- We may need to maintain a specific grasp pose or force
- We may need to control through contact
Dense Geometry Tactile Sensors (DGT)
Benefits compared to RGB-D sensors:
- Agnostic to lighting conditions
- Agnostic to self-occlusion during manipulation
- Agnostic to hard-to-see objects
Drawbacks:
- Modelling difficulties
Modelling the Soft Membrane Dynamics
- Use quasi-static approximation to model deformation in membrane
- Knowing the deformation, it is possible to infer which part of the model causes the deformation (inverse model)