Grasping and Manipulation of Unknown Objects Based on Visual and Tactile Feedback

Haschke, Robert

doi:10.1007/978-3-319-14705-5_4

Cited by 4 publications

(3 citation statements)

References 37 publications

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“…Some have already been explored in the field of robotics (Pearson et al, 2011;Lee et al, 2022). Paired with haptic sensors mimicking human skin and touch receptors capable of recognizing stimuli such as force, vibration and temperatures, as well as detecting hardness, force, slip, shapes, and textures (Yi et al, 2018), they offer great opportunities for on-orbit operations involving close contact with (un-)cooperative targets (Haschke, 2015;Pacchierotti et al, 2015;Xin et al, 2016;Yi et al, 2018), where high levels of flexibility and sensitivity are of great importance.…”

Section: The Bioinspaced Projectmentioning

confidence: 99%

Biomimetics for innovative and future-oriented space applications - A review

Banken

Oeffner²

2023

Front. Space Technol.

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Nature benefits from a progressive evolution over millions of years, always adapting and finding individual solutions for common problems. Hence, a pool of diverse and efficient solutions exists that may be transferable to technical systems. Biomimetics or bio-inspiration has been used as a design approach for decades, revolutionizing products and processes throughout various industries. Thus, multiple examples can also be found in the space sector, since many characteristics found in biological organisms are also essential for space systems like response-stimuli adaptability, robustness and lightweight construction, autonomy and intelligence, energy efficiency, and self-repair or healing capabilities. This review focuses on biomimetics within the field of aerospace engineering and summarizes existing bio-inspired concepts such as drilling tools (wood wasp ovipositor drilling), telescopes (lobster eye optics), or gasping features (gecko feet adhesion capabilities) that have already been conceptualized, partially tested, and applied within the space sector. A multitude of biological models are introduced and how they may be applicable within the space environment. In particular, this review highlights potential bio-inspired concepts for dealing with the harsh environment of space as well as challenges encountered during rocket launches, space system operations and space exploration activities. Moreover, it covers well-known and new biomimetic concepts for space debris removal and on-orbit operations such as space-based energy production, servicing and repair, and manufacture and assembly. Afterwards, a summary of the challenges associated with biomimetic design is presented to transparently show the constraints and obstacles of transferring biological concepts to technical systems, which need to be overcome to achieve a successful application of a biomimetic design approach. Overall, the review highlights the benefits of a biomimetic design approach and stresses the advantage of biomimetics for technological development as it oftentimes offers an efficient and functional solution that does not sacrifice a system’s reliability or robustness. Nevertheless, it also underlines the difficulties of the biomimetic design approach and offers some suggestions in how to approach this method.

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Section: The Bioinspaced Projectmentioning

confidence: 99%

Biomimetics for innovative and future-oriented space applications - A review

Banken

Oeffner²

2023

Front. Space Technol.

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“…Alternatively, the grasp forces could be reactively adapted due to recognized incipient slippage as suggested e.g. in [5], [13], [20], [21].…”

Section: Grasp Controllermentioning

confidence: 99%

Bio-Inspired Grasping Controller for Sensorized 2-DoF Grippers

Lach

Lemaignan²,

Ferro³

et al. 2022

2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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We present a holistic grasping controller, combining free-space position control and in-contact force-control for reliable grasping given uncertain object pose estimates. Employing tactile fingertip sensors, undesired object displacement during grasping is minimized by pausing the finger closing motion for individual joints on first contact until forceclosure is established. While holding an object, the controller is compliant with external forces to avoid high internal object forces and prevent object damage. Gravity as an external force is explicitly considered and compensated for, thus preventing gravity-induced object drift. We evaluate the controller in two experiments on the TIAGo robot and its parallel-jaw gripper proving the effectiveness of the approach for robust grasping and minimizing object displacement. In a series of ablation studies, we demonstrate the utility of the individual controller components.

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“…Many applications have been studied to use vision and tactile feedback, e.g. for door opening [20] [22], grasping [4], object exploration [12] and in-hand manipulation [6]. All these studies have shown that tactile sensors are very important in order to successfully implement different manipulation tasks.…”

Section: A Visuo-tactile Servoing Controllermentioning

confidence: 99%

Estimating an Articulated Tool's Kinematics via Visuo-Tactile Based Robotic Interactive Manipulation

Ückermann

Haschke

et al. 2018

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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The usage of articulated tools for autonomous robots is still a challenging task. One of the difficulties is to automatically estimate the tool's kinematics model. This model cannot be obtained from a single passive observation, because some information, such as a rotation axis (hinge), can only be detected when the tool is being used. Inspired by a baby using its hands while playing with an articulated toy, we employ a dual arm robotic setup and propose an interactive manipulation strategy based on visual-tactile servoing to estimate the tool's kinematics model. In our proposed method, one hand is holding the tool's handle stably, and the other arm equipped with tactile finger flips the movable part of the articulated tool. An innovative visuo-tactile servoing controller is introduced to implement the flipping task by integrating the vision and tactile feedback in a compact control loop. In order to deal with the temporary invisibility of the movable part in camera, a data fusion method which integrates the visual measurement of the movable part and the fingertip's motion trajectory is used to optimally estimate the orientation of the tool's movable part. The important tool's kinematic parameters are estimated by geometric calculations while the movable part is flipped by the finger. We evaluate our method by flipping a pivoting cleaning head (flap) of a wiper and estimating the wiper's kinematic parameters. We demonstrate that the flap of the wiper is flipped robustly, even the flap is shortly invisible. The orientation of the flap is tracked well compared to the ground truth data. The kinematic parameters of the wiper are estimated correctly.

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Grasping and Manipulation of Unknown Objects Based on Visual and Tactile Feedback

Cited by 4 publications

References 37 publications

Biomimetics for innovative and future-oriented space applications - A review

Biomimetics for innovative and future-oriented space applications - A review

Bio-Inspired Grasping Controller for Sensorized 2-DoF Grippers

Estimating an Articulated Tool's Kinematics via Visuo-Tactile Based Robotic Interactive Manipulation

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