| Autor: |
Lach, Luca, Funk, Niklas, Haschke, Robert, Lemaignan, Severin, Ritter, Helge Joachim, Peters, Jan, Chalvatzaki, Georgia |
| Rok vydání: |
2022 |
| Předmět: |
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| Druh dokumentu: |
Working Paper |
| Popis: |
This work deals with a practical everyday problem: stable object placement on flat surfaces starting from unknown initial poses. Common object-placing approaches require either complete scene specifications or extrinsic sensor measurements, e.g., cameras, that occasionally suffer from occlusions. We propose a novel approach for stable object placing that combines tactile feedback and proprioceptive sensing. We devise a neural architecture that estimates a rotation matrix, resulting in a corrective gripper movement that aligns the object with the placing surface for the subsequent object manipulation. We compare models with different sensing modalities, such as force-torque and an external motion capture system, in real-world object placing tasks with different objects. The experimental evaluation of our placing policies with a set of unseen everyday objects reveals significant generalization of our proposed pipeline, suggesting that tactile sensing plays a vital role in the intrinsic understanding of robotic dexterous object manipulation. Code, models, and supplementary videos are available at https://sites.google.com/view/placing-by-touching. |
| Databáze: |
arXiv |
| Externí odkaz: |
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