Extrinsic Contact Sensing with Relative-Motion Tracking from Distributed Tactile Measurements

by   Daolin Ma, et al.

This paper addresses the localization of contacts of an unknown grasped rigid object with its environment, i.e., extrinsic to the robot. We explore the key role that distributed tactile sensing plays in localizing contacts external to the robot, in contrast to the role that aggregated force/torque measurements play in localizing contacts on the robot. When in contact with the environment, an object will move in accordance with the kinematic and possibly frictional constraints imposed by that contact. Small motions of the object, which are observable with tactile sensors, indirectly encode those constraints and the geometry that defines them. We formulate the extrinsic contact sensing problem as a constraint-based estimation. The estimation is subject to the kinematic constraints imposed by the tactile measurements of object motion, as well as the kinematic (e.g., non-penetration) and possibly frictional (e.g., sticking) constraints imposed by rigid-body mechanics. We validate the approach in simulation and with real experiments on the case studies of fixed point and line contacts. This paper discusses the theoretical basis for the value of distributed tactile sensing in contrast to aggregated force/torque measurements. It also provides an estimation framework for localizing environmental contacts with potential impact in contact-rich manipulation scenarios such as assembling or packing.


page 1

page 3

page 4

page 5


Realtime State Estimation with Tactile and Visual Sensing for Inserting a Suction-held Object

We develop a real-time state estimation system to recover the pose and c...

Simultaneous Tactile Estimation and Control of Extrinsic Contact

We propose a method that simultaneously estimates and controls extrinsic...

Joint Inference of Kinematic and Force Trajectories with Visuo-Tactile Sensing

To perform complex tasks, robots must be able to interact with and manip...

Going In Blind: Object Motion Classification using Distributed Tactile Sensing for Safe Reaching in Clutter

Robotic manipulators navigating cluttered shelves or cabinets may find i...

Inferring geometric constraints in human demonstrations

This paper presents an approach for inferring geometric constraints in h...

Neural Contact Fields: Tracking Extrinsic Contact with Tactile Sensing

We present Neural Contact Fields, a method that brings together neural f...

Towards Generalized Robot Assembly through Compliance-Enabled Contact Formations

Contact can be conceptualized as a set of constraints imposed on two bod...

Please sign up or login with your details

Forgot password? Click here to reset