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Sri Harsha Turlapati1, Domenico Campolo1

  • 1School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore 639798, Singapore.

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Summary
This summary is machine-generated.

Robotic manipulation can infer object motion using haptic feedback and robot kinematics, overcoming vision limitations like occlusions. This haptic perception method enhances object pose tracking accuracy.

Keywords:
active manipulationdual-arm manipulationhaptichaptic manipulationobject localizationobject manipulationobject pose tracking

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Area of Science:

  • Robotics
  • Haptic Perception
  • Computer Vision

Background:

  • Vision is crucial for robotic object manipulation but struggles with occlusions and out-of-view scenarios.
  • Relying solely on vision for hand-object pose tracking presents significant challenges in dynamic robotic tasks.

Purpose of the Study:

  • To demonstrate inferring object kinematics from local haptic feedback and robot kinematics.
  • To overcome vision-based tracking limitations by integrating tactile sensing for enhanced robotic manipulation.

Main Methods:

  • Developed a planar, dual-arm, teleoperated robotic system with specialized hands for rolling contact.
  • Utilized local geometric constraints at robot-hand object contact points under quasi-static conditions.
  • Formulated mathematical relationships between object and robot hand orientation, incorporating equal and opposite displacement of contact points for rolling contact.

Main Results:

  • Successfully computed object displacement using haptic feedback and robot kinematics.
  • Presented experimental data validating the haptic-based object kinematics computation.
  • Compared results with vision-only methods, demonstrating the efficacy of the proposed approach.

Conclusions:

  • Haptic feedback, combined with robot kinematics, provides a robust method for inferring object kinematics.
  • This approach enhances robotic manipulation by mitigating challenges faced by vision-only systems.
  • Future work includes exploring perception through haptic manipulation for advanced robotic capabilities.