In-Hand Singulation and Scooping Manipulation with a 5 DOF Tactile Gripper
Fuente:
arXiv
Guardado en:
| Autores principales: | , , , |
|---|---|
| Formato: | Preprint |
| Publicado: |
2024
|
| Materias: | |
| Acceso en línea: | |
| Etiquetas: |
Agregar Etiqueta
Sin Etiquetas, Sea el primero en etiquetar este registro!
|
| _version_ | 1866916342870835200 |
|---|---|
| author | Zhou, Yuhao Zhou, Pokuang Wang, Shaoxiong She, Yu |
| author_facet | Zhou, Yuhao Zhou, Pokuang Wang, Shaoxiong She, Yu |
| contents | Manipulation tasks often require a high degree of dexterity, typically necessitating grippers with multiple degrees of freedom (DoF). While a robotic hand equipped with multiple fingers can execute precise and intricate manipulation tasks, the inherent redundancy stemming from its extensive DoF often adds unnecessary complexity. In this paper, we introduce the design of a tactile sensor-equipped gripper with two fingers and five DoF. We present a novel design integrating a GelSight tactile sensor, enhancing sensing capabilities and enabling finer control during specific manipulation tasks. To evaluate the gripper's performance, we conduct experiments involving two challenging tasks: 1) retrieving, singularizing, and classification of various objects embedded in granular media, and 2) executing scooping manipulations of credit cards in confined environments to achieve precise insertion. Our results demonstrate the efficiency of the proposed approach, with a high success rate for singulation and classification tasks, particularly for spherical objects at high as 94.3%, and a 100% success rate for scooping and inserting credit cards. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2408_00610 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | In-Hand Singulation and Scooping Manipulation with a 5 DOF Tactile Gripper Zhou, Yuhao Zhou, Pokuang Wang, Shaoxiong She, Yu Robotics Manipulation tasks often require a high degree of dexterity, typically necessitating grippers with multiple degrees of freedom (DoF). While a robotic hand equipped with multiple fingers can execute precise and intricate manipulation tasks, the inherent redundancy stemming from its extensive DoF often adds unnecessary complexity. In this paper, we introduce the design of a tactile sensor-equipped gripper with two fingers and five DoF. We present a novel design integrating a GelSight tactile sensor, enhancing sensing capabilities and enabling finer control during specific manipulation tasks. To evaluate the gripper's performance, we conduct experiments involving two challenging tasks: 1) retrieving, singularizing, and classification of various objects embedded in granular media, and 2) executing scooping manipulations of credit cards in confined environments to achieve precise insertion. Our results demonstrate the efficiency of the proposed approach, with a high success rate for singulation and classification tasks, particularly for spherical objects at high as 94.3%, and a 100% success rate for scooping and inserting credit cards. |
| title | In-Hand Singulation and Scooping Manipulation with a 5 DOF Tactile Gripper |
| topic | Robotics |
| url | https://arxiv.org/abs/2408.00610 |