TR2023-025
Simultaneous Tactile Estimation and Control of Extrinsic Contact
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- "Simultaneous Tactile Estimation and Control of Extrinsic Contact", IEEE International Conference on Robotics and Automation (ICRA), DOI: 10.1109/ICRA48891.2023.10161158, May 2023, pp. 12563-12569.BibTeX TR2023-025 PDF Video
- @inproceedings{Kim2023may,
- author = {Kim, Sangwoon and Jha, Devesh K. and Romeres, Diego and Rodriguez, Alberto},
- title = {Simultaneous Tactile Estimation and Control of Extrinsic Contact},
- booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
- year = 2023,
- pages = {12563--12569},
- month = may,
- publisher = {IEEE},
- doi = {10.1109/ICRA48891.2023.10161158},
- url = {https://www.merl.com/publications/TR2023-025}
- }
,
- "Simultaneous Tactile Estimation and Control of Extrinsic Contact", IEEE International Conference on Robotics and Automation (ICRA), DOI: 10.1109/ICRA48891.2023.10161158, May 2023, pp. 12563-12569.
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MERL Contacts:
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Research Area:
Abstract:
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.
Related News & Events
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NEWS MERL Researchers Present Thirteen Papers at the 2023 IEEE International Conference on Robotics and Automation (ICRA) Date: May 29, 2023 - June 2, 2023
Where: 2023 IEEE International Conference on Robotics and Automation (ICRA)
MERL Contacts: Anoop Cherian; Radu Corcodel; Siddarth Jain; Devesh K. Jha; Toshiaki Koike-Akino; Tim K. Marks; Daniel N. Nikovski; Arvind Raghunathan; Diego Romeres
Research Areas: Computer Vision, Machine Learning, Optimization, RoboticsBrief- MERL researchers will present thirteen papers, including eight main conference papers and five workshop papers, at the 2023 IEEE International Conference on Robotics and Automation (ICRA) to be held in London, UK from May 29 to June 2. ICRA is one of the largest and most prestigious conferences in the robotics community. The papers cover a broad set of topics in Robotics including estimation, manipulation, vision-based object recognition and segmentation, tactile estimation and tool manipulation, robotic food handling, robot skill learning, and model-based reinforcement learning.
In addition to the paper presentations, MERL robotics researchers will also host an exhibition booth and look forward to discussing our research with visitors.
- MERL researchers will present thirteen papers, including eight main conference papers and five workshop papers, at the 2023 IEEE International Conference on Robotics and Automation (ICRA) to be held in London, UK from May 29 to June 2. ICRA is one of the largest and most prestigious conferences in the robotics community. The papers cover a broad set of topics in Robotics including estimation, manipulation, vision-based object recognition and segmentation, tactile estimation and tool manipulation, robotic food handling, robot skill learning, and model-based reinforcement learning.