Journal
IEEE ROBOTICS AND AUTOMATION LETTERS
Volume 6, Issue 3, Pages 5761-5768Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/LRA.2021.3084880
Keywords
Force and tactile sensing; modeling; control; and learning for soft robots; dexterous manipulation
Categories
Ask authors/readers for more resources
This research demonstrates that robots equipped with a vision-based tactile sensor can perform dynamic manipulation tasks without prior knowledge of the physical attributes of the objects being manipulated. By developing a novel simulator and learning a feedback policy conditioned on sensory observations, the robotic system successfully manipulates poles of different physical attributes in a closed-loop control system.
This letter aims to show that robots equipped with a vision-based tactile sensor can perform dynamic manipulation tasks without prior knowledge of all the physical attributes of the objects to be manipulated. For this purpose, a robotic system is presented that is able to swing up poles of different masses, radii and lengths, to an angle of 180 degrees, while relying solely on the feedback provided by the tactile sensor. This is achieved by developing a novel simulator that accurately models the interaction of a pole with the soft sensor. A feedback policy that is conditioned on a sensory observation history, and which has no prior knowledge of the physical features of the pole, is then learned in the aforementioned simulation. When evaluated on the physical system, the policy is able to swing up a wide range of poles that differ significantly in their physical attributes without further adaptation. To the authors' knowledge, this is the first work where a feedback policy from high-dimensional tactile observations is used to control the swing-up manipulation of poles in closed-loop.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available