SEED: Series Elastic End Effectors in 6D for Visuotactile Tool Use

2021/11/02 by H. J. Terry Suh, Suh, H. J. Terry, Naveen Kuppuswamy +9 · 2 citations
Neuroscience · Engineering · Computer Science · #Tactile and Sensory Interactions #Teleoperation and Haptic Systems #Interactive and Immersive Displays

paper · pdf · doi:10.48550/arxiv.2111.01376

Abstract

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

Cited by

• Hybrid Control for Robotic Nut Tightening Task
• Hydrosoft: Non-Holonomic Hydroelastic Models for Compliant Tactile Manipulation

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