Model-free precise in-hand manipulation with a 3D-printed tactile gripper
File(s)
Published version
Author(s)
Ward-Cherrier, B
Rojas, N
Lepora, NF
Type
Journal Article
Abstract
The use of tactile feedback for precision manipulation in robotics still lags far behind human capabilities. This study has two principal aims: 1) to demonstrate in-hand reorientation of grasped objects through active tactile manipulation; and 2) to present the development of a novel TacTip sensor and a GR2 gripper platform for tactile manipulation. Through the use of Bayesian active perception algorithms, the system successfully achieved inhand reorientation of cylinders of different diameters (20, 25, 30, and 35 mm) using tactile feedback. Average orientation errors along manipulation trajectories were below 5° for all cylinders with reorientation ranges varying from 42° to 67°. We also demonstrated an improvement in active tactile manipulation accuracy when using additional training data. Our methods for active tactile manipulation with the GR2 TacTip gripper are model free, can be used to investigate principles of dexterous manipulation, and could lead to essential advances in the areas of robotic tactile manipulation and teleoperated robots.
Date Issued
2017-06-26
Date Acceptance
2017-06-03
Citation
IEEE Robotics and Automation Letters, 2017, 2 (4), pp.2056-2063
ISSN
2377-3766
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Start Page
2056
End Page
2063
Journal / Book Title
IEEE Robotics and Automation Letters
Volume
2
Issue
4
Copyright Statement
© 2017 IEEE. This work is licensed under a Creative Commons Attribution 3.0 License. For more information, see http://creativecommons.org/licenses/by/3.0/
Publication Status
Published