Towards integrated tactile sensorimotor control in anthropomorphic soft robotic hands
| Autor: | Lepora, Nathan F., Stinchcombe, Andrew, Ford, Chris, Brown, Alfred, Lloyd, John, Catalano, Manuel G., Bianchi, Matteo, Ward-Cherrier, Benjamin |
|---|---|
| Rok vydání: | 2021 |
| Předmět: | |
| Druh dokumentu: | Working Paper |
| Popis: | In this work, we report on the integrated sensorimotor control of the Pisa/IIT SoftHand, an anthropomorphic soft robot hand designed around the principle of adaptive synergies, with the BRL tactile fingertip (TacTip), a soft biomimetic optical tactile sensor based on the human sense of touch. Our focus is how a sense of touch can be used to control an anthropomorphic hand with one degree of actuation, based on an integration that respects the hand's mechanical functionality. We consider: (i) closed-loop tactile control to establish a light contact on an unknown held object, based on the structural similarity with an undeformed tactile image; and (ii) controlling the estimated pose of an edge feature of a held object, using a convolutional neural network approach developed for controlling other sensors in the TacTip family. Overall, this gives a foundation to endow soft robotic hands with human-like touch, with implications for autonomous grasping, manipulation, human-robot interaction and prosthetics. Supplemental video: https://youtu.be/ndsxj659bkQ Comment: 7 pages, 10 figures. Supplemental video: https://youtu.be/ndsxj659bkQ |
| Databáze: | arXiv |
| Externí odkaz: |
|