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| Main Authors: | , , , |
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| Format: | Preprint |
| Published: |
2024
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2402.06018 |
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| _version_ | 1866917585542447104 |
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| author | Correll, Nikolaus Kriegman, Dylan Otto, Stephen Watson, James |
| author_facet | Correll, Nikolaus Kriegman, Dylan Otto, Stephen Watson, James |
| contents | We describe a force-controlled robotic gripper with built-in tactile and 3D perception. We also describe a complete autonomous manipulation pipeline consisting of object detection, segmentation, point cloud processing, force-controlled manipulation, and symbolic (re)-planning. The design emphasizes versatility in terms of applications, manufacturability, use of commercial off-the-shelf parts, and open-source software. We validate the design by characterizing force control (achieving up to 32N, controllable in steps of 0.08N), force measurement, and two manipulation demonstrations: assembly of the Siemens gear assembly problem, and a sensor-based stacking task requiring replanning. These demonstrate robust execution of long sequences of sensor-based manipulation tasks, which makes the resulting platform a solid foundation for researchers in task-and-motion planning, educators, and quick prototyping of household, industrial and warehouse automation tasks. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2402_06018 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | A versatile robotic hand with 3D perception, force sensing for autonomous manipulation Correll, Nikolaus Kriegman, Dylan Otto, Stephen Watson, James Robotics We describe a force-controlled robotic gripper with built-in tactile and 3D perception. We also describe a complete autonomous manipulation pipeline consisting of object detection, segmentation, point cloud processing, force-controlled manipulation, and symbolic (re)-planning. The design emphasizes versatility in terms of applications, manufacturability, use of commercial off-the-shelf parts, and open-source software. We validate the design by characterizing force control (achieving up to 32N, controllable in steps of 0.08N), force measurement, and two manipulation demonstrations: assembly of the Siemens gear assembly problem, and a sensor-based stacking task requiring replanning. These demonstrate robust execution of long sequences of sensor-based manipulation tasks, which makes the resulting platform a solid foundation for researchers in task-and-motion planning, educators, and quick prototyping of household, industrial and warehouse automation tasks. |
| title | A versatile robotic hand with 3D perception, force sensing for autonomous manipulation |
| topic | Robotics |
| url | https://arxiv.org/abs/2402.06018 |