Multi-fingered tactile servoing for grasping adjustment under partial observation

Liu, Hanzhong; Huang, Bidan; Li, Qiang; Zheng, Yu; Ling, Yonggen; Lee, Wangwei; Liu, Yi; Tsai, Ya-Yen; Yang, Chenguang

Abstract

Grasping of objects using multi-fingered robotic hands often fails due to small uncertainties in the hand motion control and the object's pose estimation. To tackle this problem, we propose a grasping adjustment strategy based on tactile seroving. Our technique employs feedback from a sensorized multi-fingered robotic hand to collaboratively servo the fingers and palm to achieve the desired grasp. We demonstrate the performance of our method through simulation and physical experiments by having a robot grasp different objects under conditions of variable uncertainty. The results show that our approach achieved a higher success rate and tolerated greater uncertainty than an open-looped grasp.

• Presentation Conference Type: Conference Paper (Published)
• Conference Name: 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
• Start Date: Oct 23, 2022
• End Date: Oct 27, 2022
• Acceptance Date: Jun 30, 2022
• Online Publication Date: Dec 26, 2022
• Publication Date: Dec 26, 2022
• Deposit Date: Mar 14, 2023
• Publicly Available Date: Dec 27, 2024
• Publisher: Institute of Electrical and Electronics Engineers (IEEE)
• Volume: 2022-October
• Pages: 7781-7788
• Series ISSN: 2153-0866
• Book Title: 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
• ISBN: 9781665479288
• DOI: https://doi.org/10.1109/IROS47612.2022.9981464
• Keywords: Uncertainty, Pose estimation, Grasping, Robot sensing systems, Servomotors, Motion control, Intelligent robots
• Public URL: https://uwe-repository.worktribe.com/output/10344571
• Publisher URL: https://ieeexplore.ieee.org/document/9981464
• Related Public URLs: https://ieeexplore.ieee.org/xpl/conhome/9981026/proceeding