Leveraging Touch Sensors to Improve Mobile Manipulation

by   Luca Lach, et al.

Despite many advances in service robotics, successful and secure object manipulation on mobile platforms is still a challenge. In order to come closer to human grasping performance, it is natural to provide robots with the same capability that humans have: the sense of touch. This abstract presents novel, tactile-equipped end-effectors for the service robot TIAGo that are currently being developed. Their primary goal is to improve reliability and success of mobile manipulation, but they also enable further research in related fields such as learning by human demonstration, object exploration and force control algorithms.


page 1

page 2


Tactile Sensing

Research on tactile sensing has been progressing at constant pace. In ro...

Mass Estimation in Manipulation Tasks of Domestic Service Robots using Fault Reconstruction Techniques

Manipulation is a key capability in domestic service robots, as can be s...

Under Pressure: Learning to Detect Slip with Barometric Tactile Sensors

The ability to perceive object slip through tactile feedback allows huma...

ForceSight: Text-Guided Mobile Manipulation with Visual-Force Goals

We present ForceSight, a system for text-guided mobile manipulation that...

Legged Robots for Object Manipulation: A Review

Legged robots can have a unique role in manipulating objects in dynamic,...

Go Fetch: Mobile Manipulation in Unstructured Environments

With humankind facing new and increasingly large-scale challenges in the...

Please sign up or login with your details

Forgot password? Click here to reset