触覚による外部接触の同時推定と制御
Simultaneous Tactile Estimation and Control of Extrinsic Contact
触覚フィードバックを用いて、把持物体と環境の間の外部接触位置と力を推定しながら、滑りを防ぐようにグリッパを制御する手法を提案した。
著者: Sangwoon Kim, Devesh K. Jha, Diego Romeres, Parag Patre, Alberto Rodriguez
分類: cs.RO
原文アブストラクト
We propose a method that simultaneously estimates and controls extrinsic contact with tactile feedback. The method enables challenging manipulation tasks that require controlling light forces and accurate motions in contact, such as balancing an unknown object on a thin rod standing upright. A factor graph-based framework fuses a sequence of tactile and kinematic measurements to estimate and control the interaction between gripper-object-environment, including the location and wrench at the extrinsic contact between the grasped object and the environment and the grasp wrench transferred from the gripper to the object. The same framework simultaneously plans the gripper motions that make it possible to estimate the state while satisfying regularizing control objectives to prevent slip, such as minimizing the grasp wrench and minimizing frictional force at the extrinsic contact. We show results with sub-millimeter contact localization error and good slip prevention even on slippery environments, for multiple contact formations (point, line, patch contact) and transitions between them. See supplementary video and results at https://sites.google.com/view/sim-tact.
