6自由度直列弾性エンドエフェクタによる視触覚ツール操作
SEED: Series Elastic End Effectors in 6D for Visuotactile Tool Use
空間的に柔軟な要素と視触覚センシングを組み合わせ、6自由度で工具を把持・操作する枠組みSEEDを提案。視触覚からの相対姿勢推定と力・位置ハイブリッド制御で安定した力相互作用を実現した。
著者: H. J. Terry Suh, Naveen Kuppuswamy, Tao Pang, Paul Mitiguy, Alex Alspach, Russ Tedrake
分類: cs.RO
原文アブストラクト
We propose the framework of Series Elastic End Effectors in 6D (SEED), which combines a spatially compliant element with visuotactile sensing to grasp and manipulate tools in the wild. Our framework generalizes the benefits of series elasticity to 6-dof, while providing an abstraction of control using visuotactile sensing. We propose an algorithm for relative pose estimation from visuotactile sensing, and a spatial hybrid force-position controller capable of achieving stable force interaction with the environment. We demonstrate the effectiveness of our framework on tools that require regulation of spatial forces. Video link: https://youtu.be/2-YuIfspDrk
