Year: 2024
Type: preprint
Abstract: Fine dexterous manipulation requires reactive control based on rich sensing of manipulator-object interactions. Tactile sensing arrays provide rich contact information across the manipulator's surface. However their implementation faces two main challenges: accurate force estimation across complex surfaces like robotic hands, and integration of these estimates into reactive control loops. We present a data-efficient calibration method that enables rapid, full-array force estimation across varying geometries, providing online feedback that accounts for non-linearities and deformation effects. Our force estimation model serves as feedback in an online closed-loop control system for interaction force tracking. The accuracy of our estimates is independently validated against measurements from a calibrated force-torque sensor. Using the Allegro Hand equipped with Xela uSkin sensors, we demonstrate precise force application through an admittance control loop running at 100Hz, achieving up to 0.12+/-0.08 [N] error margin-results that show promising potential for dexterous manipulation.
Source: arXiv (Cornell University)
Institutions: Sorbonne Université, Institut Systèmes Intelligents et de Robotique, Nantes Université, École Centrale de Nantes, Centre National de la Recherche Scientifique, Laboratoire des Sciences du Numérique de Nantes, Laboratoire d'Informatique, de Robotique et de Microélectronique de Montpellier
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: green
Funder: Agence Nationale de la Recherche
OpenAlex ID: W4404649516