Tactile Sensing Skill Learning And Robotic Dexterous Manipulation

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Tactile Sensing, Skill Learning, and Robotic Dexterous Manipulation

Author : Qiang Li
Publisher : Academic Press
ISBN 13 : 0323904173
Total Pages : 374 pages
Book Rating : 4.3/5 (239 download)

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Book Synopsis Tactile Sensing, Skill Learning, and Robotic Dexterous Manipulation by : Qiang Li

Download or read book Tactile Sensing, Skill Learning, and Robotic Dexterous Manipulation written by Qiang Li and published by Academic Press. This book was released on 2022-04-02 with total page 374 pages. Available in PDF, EPUB and Kindle. Book excerpt: Tactile Sensing, Skill Learning and Robotic Dexterous Manipulation focuses on cross-disciplinary lines of research and groundbreaking research ideas in three research lines: tactile sensing, skill learning and dexterous control. The book introduces recent work about human dexterous skill representation and learning, along with discussions of tactile sensing and its applications on unknown objects’ property recognition and reconstruction. Sections also introduce the adaptive control schema and its learning by imitation and exploration. Other chapters describe the fundamental part of relevant research, paying attention to the connection among different fields and showing the state-of-the-art in related branches. The book summarizes the different approaches and discusses the pros and cons of each. Chapters not only describe the research but also include basic knowledge that can help readers understand the proposed work, making it an excellent resource for researchers and professionals who work in the robotics industry, haptics and in machine learning. Provides a review of tactile perception and the latest advances in the use of robotic dexterous manipulation Presents the most detailed work on synthesizing intelligent tactile perception, skill learning and adaptive control Introduces recent work on human’s dexterous skill representation and learning and the adaptive control schema and its learning by imitation and exploration Reveals and illustrates how robots can improve dexterity by modern tactile sensing, interactive perception, learning and adaptive control approaches

Intrinsic Tactile Sensing System for Robotic Dexterous Manipulation

Author : Andrés Felipe Ospina Triviño
Publisher :
ISBN 13 :
Total Pages : 0 pages
Book Rating : 4.:/5 (12 download)

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Book Synopsis Intrinsic Tactile Sensing System for Robotic Dexterous Manipulation by : Andrés Felipe Ospina Triviño

Download or read book Intrinsic Tactile Sensing System for Robotic Dexterous Manipulation written by Andrés Felipe Ospina Triviño and published by . This book was released on 2017 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Tactile sensing and slip detection plays an important role in enabling robotic dexterous object manipulation. Thus developing a high-resolution fully integrated tactile sensor system is of great interest. This work deals the design and implementation of an intrinsic tactile sensing system based on a set of 3-axis force MEMs sensors and the detection of slippage with such system. In order to create a tactile system the 3-axis force sensors are protected by a coating, a study about the coating is made. Two different intrinsic systems based on an array of 3-axis force sensors are developed, the first one is used a feasibility test of this kind of system. The second intrinsic system is adapted to a robotic finger with soft surface. The proposed systems measures three-force components, the normal torque to the contact surface, and the position of the contact centroid applied to its sensitive surface. Both systems are characterized and tested. The detection of slippage with an intrinsic tactile system is tested. The application of the limit surface theory and the viscoelastic model of contact make the detection of slippage.

Reactive Manipulation with Contact Models and Tactile Feedback

Author : Francois R. Hogan
Publisher :
ISBN 13 :
Total Pages : 120 pages
Book Rating : 4.:/5 (115 download)

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Book Synopsis Reactive Manipulation with Contact Models and Tactile Feedback by : Francois R. Hogan

Download or read book Reactive Manipulation with Contact Models and Tactile Feedback written by Francois R. Hogan and published by . This book was released on 2020 with total page 120 pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis focuses on closing the loop in robotic manipulation, moving towards robots that can better perceive their environment and react to unforeseen situations. Humans effectively process and react to information from visual and tactile sensing, however robots often remain programmed in an open-loop fashion, and struggle to correct their motion based on detected errors. We begin our work by developing full-state feedback controllers for dynamical systems involving frictional contact interactions. Hybridness and underactuation are key characteristics of these systems that complicate the design of feedback controllers. We design and experimentally validate the controllers on a planar manipulation system where the purpose is to control the motion of a sliding object on a flat surface using a point robotic pusher. The pusher-slider is a simple dynamical system that retains many of the challenges that are typical of robotic manipulation tasks. We extend this work to partially observable systems, by developing closed-loop tactile controllers for dexterous manipulation with dual-arm robotic palms. We introduce Tactile Dexterity, an approach to dexterous manipulation that plans for robot/object interactions that render interpretable tactile information for control. Key to this formulation is the decomposition of manipulation plans into sequences of manipulation primitives with simple mechanics and efficient planners.

In-Hand Object Localization and Control: Enabling Dexterous Manipulation with Robotic Hands

Author : Martin Pfanne
Publisher : Springer Nature
ISBN 13 : 3031069676
Total Pages : 213 pages
Book Rating : 4.0/5 (31 download)

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Book Synopsis In-Hand Object Localization and Control: Enabling Dexterous Manipulation with Robotic Hands by : Martin Pfanne

Download or read book In-Hand Object Localization and Control: Enabling Dexterous Manipulation with Robotic Hands written by Martin Pfanne and published by Springer Nature. This book was released on 2022-08-31 with total page 213 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book introduces a novel model-based dexterous manipulation framework, which, thanks to its precision and versatility, significantly advances the capabilities of robotic hands compared to the previous state of the art. This is achieved by combining a novel grasp state estimation algorithm, the first to integrate information from tactile sensing, proprioception and vision, with an impedance-based in-hand object controller, which enables leading manipulation capabilities, including finger gaiting. The developed concept is implemented on one of the most advanced robotic manipulators, the DLR humanoid robot David, and evaluated in a range of challenging real-world manipulation scenarios and tasks. This book greatly benefits researchers in the field of robotics that study robotic hands and dexterous manipulation topics, as well as developers and engineers working on industrial automation applications involving grippers and robotic manipulators.

Robot Tactile Sensing

Author : R. Andrew Russell
Publisher :
ISBN 13 :
Total Pages : 192 pages
Book Rating : 4.3/5 (91 download)

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Book Synopsis Robot Tactile Sensing by : R. Andrew Russell

Download or read book Robot Tactile Sensing written by R. Andrew Russell and published by . This book was released on 1990 with total page 192 pages. Available in PDF, EPUB and Kindle. Book excerpt: This work introduces tactile sensing for those engaged in advanced, sensor-based robotics, with special reference to problems of addressing arrays of sensor elements. It describes tactile sensors to register contact, surface profile, thermal properties and other tactile sensing modes. The use of robot manipulators to provide mobility for tactile sensors, and techniques for applying tactile sensing in robotic manipulation and recognition tasks are also covered. The various applications of this technology are discussed, and robot hands and grips are detailed.

Human Inspired Dexterity in Robotic Manipulation

Author : Tetsuyou Watanabe
Publisher : Academic Press
ISBN 13 : 0128133961
Total Pages : 220 pages
Book Rating : 4.1/5 (281 download)

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Book Synopsis Human Inspired Dexterity in Robotic Manipulation by : Tetsuyou Watanabe

Download or read book Human Inspired Dexterity in Robotic Manipulation written by Tetsuyou Watanabe and published by Academic Press. This book was released on 2018-06-26 with total page 220 pages. Available in PDF, EPUB and Kindle. Book excerpt: Human Inspired Dexterity in Robotic Manipulation provides up-to-date research and information on how to imitate humans and realize robotic manipulation. Approaches from both software and hardware viewpoints are shown, with sections discussing, and highlighting, case studies that demonstrate how human manipulation techniques or skills can be transferred to robotic manipulation. From the hardware viewpoint, the book discusses important human hand structures that are key for robotic hand design and how they should be embedded for dexterous manipulation. This book is ideal for the research communities in robotics, mechatronics and automation. Investigates current research direction in robotic manipulation Shows how human manipulation techniques and skills can be transferred to robotic manipulation Identifies key human hand structures for robotic hand design and how they should be embedded in the robotic hand for dexterous manipulation

Data-driven Robotic Manipulation of Deformable Objects Using Tactile Feedback

Author : Yi Zheng
Publisher :
ISBN 13 :
Total Pages : 0 pages
Book Rating : 4.:/5 (14 download)

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Book Synopsis Data-driven Robotic Manipulation of Deformable Objects Using Tactile Feedback by : Yi Zheng

Download or read book Data-driven Robotic Manipulation of Deformable Objects Using Tactile Feedback written by Yi Zheng and published by . This book was released on 2023 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Perceiving and manipulating deformable objects with the sense of touch are essential skills in everyday life. However, it remains difficult for robots to autonomously manipulate deformable objects using tactile sensing because of numerous perception, modeling, planning, and control challenges. We believe this is partially due to two fundamental challenges: (1) Establishing a physics-based model describing physical interactions between deformable tactile sensors and deformable objects is difficult; (2) Modern tactile sensors provide high-dimensional data, which is beneficial for perception but impedes the development of practical planning and control strategies. To address these challenges, we developed systematic frameworks for the tactile-driven manipulation of deformable objects that integrates state-of-the-art tactile sensing with well-established tools used by other robotics communities. In Study \#1, we showed how a robot can learn to manipulate a deformable, thin-shell object via tactile sensor feedback using model-free reinforcement learning methods. A page flipping task was learned on a real robot using a two-stage approach. First, we learned nominal page flipping trajectories by constructing a reward function that quantifies functional task performance from the perspective of tactile sensing. Second, we learned adapted trajectories using tactile-driven perceptual coupling, with an intuitive assumption that, while the functional page flipping trajectories for different task contexts (page sizes) might differ, similar tactile sensing feedback should be expected. In Study \#2, we showed how a robot can use tactile sensor feedback to control the pose and tension of a deformable linear object (elastic cable). For a cable manipulation task, low-dimensional latent space features were extracted from high-dimensional raw tactile sensor data using unsupervised learning methods, and a dynamics model was constructed in the latent space using supervised learning methods. The dynamics model was integrated with an optimization-based, model predictive controller for end-to-end, tactile-driven motion planning and control on a real robot. In summary, we developed frameworks for the tactile-driven manipulation of deformable objects that either circumvents sensor modeling difficulties or constructs a dynamics model directly from tactile feedback and uses the model for planning and control. This work provides a foundation for the further development of systematic frameworks that can address complex, tactile-driven manipulation problems.

Advanced Tactile Sensing for Robotics

Author : Howard R. Nicholls
Publisher : World Scientific Publishing Company Incorporated
ISBN 13 : 9789810208707
Total Pages : 294 pages
Book Rating : 4.2/5 (87 download)

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Book Synopsis Advanced Tactile Sensing for Robotics by : Howard R. Nicholls

Download or read book Advanced Tactile Sensing for Robotics written by Howard R. Nicholls and published by World Scientific Publishing Company Incorporated. This book was released on 1992-01-01 with total page 294 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Robotic Tactile Perception and Understanding

Author : Huaping Liu
Publisher : Springer
ISBN 13 : 9811061718
Total Pages : 220 pages
Book Rating : 4.8/5 (11 download)

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Book Synopsis Robotic Tactile Perception and Understanding by : Huaping Liu

Download or read book Robotic Tactile Perception and Understanding written by Huaping Liu and published by Springer. This book was released on 2018-03-20 with total page 220 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book introduces the challenges of robotic tactile perception and task understanding, and describes an advanced approach based on machine learning and sparse coding techniques. Further, a set of structured sparse coding models is developed to address the issues of dynamic tactile sensing. The book then proves that the proposed framework is effective in solving the problems of multi-finger tactile object recognition, multi-label tactile adjective recognition and multi-category material analysis, which are all challenging practical problems in the fields of robotics and automation. The proposed sparse coding model can be used to tackle the challenging visual-tactile fusion recognition problem, and the book develops a series of efficient optimization algorithms to implement the model. It is suitable as a reference book for graduate students with a basic knowledge of machine learning as well as professional researchers interested in robotic tactile perception and understanding, and machine learning.

Tactile Sensors for Robotic Applications

Author : Salvatore Pirozzi
Publisher : MDPI
ISBN 13 : 3036504249
Total Pages : 248 pages
Book Rating : 4.0/5 (365 download)

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Book Synopsis Tactile Sensors for Robotic Applications by : Salvatore Pirozzi

Download or read book Tactile Sensors for Robotic Applications written by Salvatore Pirozzi and published by MDPI. This book was released on 2021-03-17 with total page 248 pages. Available in PDF, EPUB and Kindle. Book excerpt: The book covers different aspects: - Innovative technologies for tactile sensors development - Tactile data interpretation for control purposes - Alternative sensing technologies - Multi-sensor systems for grasping and manipulation - Sensing solutions for impaired people

Visuo-tactile Perception for Dexterous Robotic Manipulation

Author : Maria Bauza Villalonga
Publisher :
ISBN 13 :
Total Pages : 0 pages
Book Rating : 4.:/5 (138 download)

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Book Synopsis Visuo-tactile Perception for Dexterous Robotic Manipulation by : Maria Bauza Villalonga

Download or read book Visuo-tactile Perception for Dexterous Robotic Manipulation written by Maria Bauza Villalonga and published by . This book was released on 2022 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: In this thesis, we develop visuo-tactile perception to enable general and precise robotic manipulation. In particular, we want to study how to effectively process visual and tactile information to allow robots to expand their capabilities while remaining accurate and reliable. We begin our work by focusing on developing tools for tactile perception. For the task of grasping, we use tactile observations to assess and improve grasp stability. Tactile information also allows extracting geometric information from contacts which is a task-independent feature. By learning to map tactile observations to contact shapes, we show robots can reconstruct accurate 3D models of objects, which can later be used for pose estimation. We build on the idea of using geometric information from contacts by developing tools that accurately render contact geometry in simulation. This enables us to develop a probabilistic approach to pose estimation for novel objects based on matching real visuo-tactile observations to a set of simulated ones. As a result, our method does not rely on real data and yields accurate pose distributions. Finally, we demonstrate how this approach to perception enables precise manipulations. In particular, we consider the task of precise pick-and-place of novel objects. Combining perception with task-aware planning, we build a robotic system that identifies in simulation which object grasps will facilitate grasping, planning, and perception; and selects the best one during execution. Our approach adapts to new objects by learning object-dependent models purely in simulation, allowing a robot to manipulate new objects successfully and perform highly accurate placements.

Learning Robot Tactile Sensing for Object Manipulation

Author : Yevgen Chebotar
Publisher :
ISBN 13 :
Total Pages : pages
Book Rating : 4.:/5 (879 download)

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Book Synopsis Learning Robot Tactile Sensing for Object Manipulation by : Yevgen Chebotar

Download or read book Learning Robot Tactile Sensing for Object Manipulation written by Yevgen Chebotar and published by . This book was released on 2014 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:

Soft, Round, High Resolution Tactile Fingertip Sensors for Dexterous Robotic Manipulation

Author : Branden Robert Romero
Publisher :
ISBN 13 :
Total Pages : 0 pages
Book Rating : 4.:/5 (139 download)

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Book Synopsis Soft, Round, High Resolution Tactile Fingertip Sensors for Dexterous Robotic Manipulation by : Branden Robert Romero

Download or read book Soft, Round, High Resolution Tactile Fingertip Sensors for Dexterous Robotic Manipulation written by Branden Robert Romero and published by . This book was released on 2022 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: In this work we introduce a non-planar soft high-resolution tactile sensor. An iteration of the GelSight sensors, it enables future GelSights to have more complicated form factors, such as a humanoid fingertip. To do this we introduce a novel method for achieving directional lighting along the entirety of a curved sensor using light piping. Light piping uses total internal reflection and a semi-specular membrane to constrain the path of the light inside the sensor until the sensing membrane is deformed. By using this new membrane and changing the geometry, we introduce a new bidirectional reflectance distribution function and new optics. This require new calibration procedures in the form of developing a fisheye projection model, and developing a neighborhood and location based continuous look-up table to map the relationship between RGB value and surface normal orientation of the membrane at a point. Finally we perform two dexterous manipulation task with feedback from the sensors in the form of controlled rolling of an object on a support surface, and lid removal off a jar. We also give instructions on how to manufacture the sensor as well as increasing the durability of the membrane for all GelSight sensors.

Robotic Tactile Sensing

Author : Ravinder S. Dahiya
Publisher : Springer Science & Business Media
ISBN 13 : 9400705794
Total Pages : 258 pages
Book Rating : 4.4/5 (7 download)

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Book Synopsis Robotic Tactile Sensing by : Ravinder S. Dahiya

Download or read book Robotic Tactile Sensing written by Ravinder S. Dahiya and published by Springer Science & Business Media. This book was released on 2012-07-29 with total page 258 pages. Available in PDF, EPUB and Kindle. Book excerpt: Future robots are expected to work closely and interact safely with real-world objects and humans alike. Sense of touch is important in this context, as it helps estimate properties such as shape, texture, hardness, material type and many more; provides action related information, such as slip detection; and helps carrying out actions such as rolling an object between fingers without dropping it. This book presents an in-depth description of the solutions available for gathering tactile data, obtaining aforementioned tactile information from the data and effectively using the same in various robotic tasks. The efforts during last four decades or so have yielded a wide spectrum of tactile sensing technologies and engineered solutions for both intrinsic and extrinsic touch sensors. Nowadays, new materials and structures are being explored for obtaining robotic skin with physical features like bendable, conformable, and stretchable. Such features are important for covering various body parts of robots or 3D surfaces. Nonetheless, there exist many more hardware, software and application related issues that must be considered to make tactile sensing an effective component of future robotic platforms. This book presents an in-depth analysis of various system related issues and presents the trade-offs one may face while developing an effective tactile sensing system. For this purpose, human touch sensing has also been explored. The design hints coming out of the investigations into human sense of touch can be useful in improving the effectiveness of tactile sensory modality in robotics and other machines. Better integration of tactile sensors on a robot’s body is prerequisite for the effective utilization of tactile data. The concept of semiconductor devices based sensors is an interesting one, as it allows compact and fast tactile sensing systems with capabilities such as human-like spatio-temporal resolution. This book presents a comprehensive description of semiconductor devices based tactile sensing. In particular, novel Piezo Oxide Semiconductor Field Effect Transistor (POSFET) based approach for high resolution tactile sensing has been discussed in detail. Finally, the extension of semiconductors devices based sensors concept to large and flexile areas has been discussed for obtaining robotic or electronic skin. With its multidisciplinary scope, this book is suitable for graduate students and researchers coming from diverse areas such robotics (bio-robots, humanoids, rehabilitation etc.), applied materials, humans touch sensing, electronics, microsystems, and instrumentation. To better explain the concepts the text is supported by large number of figures.

Towards Dexterous In-Hand Manipulation Through Tactile Sensing

Author : Filipe Fernandes Veiga
Publisher :
ISBN 13 :
Total Pages : pages
Book Rating : 4.:/5 (113 download)

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Book Synopsis Towards Dexterous In-Hand Manipulation Through Tactile Sensing by : Filipe Fernandes Veiga

Download or read book Towards Dexterous In-Hand Manipulation Through Tactile Sensing written by Filipe Fernandes Veiga and published by . This book was released on 2018 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:

Sensory Robotics for the Handling of Limp Materials

Author : Paul M. Taylor
Publisher : Springer Science & Business Media
ISBN 13 : 364275533X
Total Pages : 339 pages
Book Rating : 4.6/5 (427 download)

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Book Synopsis Sensory Robotics for the Handling of Limp Materials by : Paul M. Taylor

Download or read book Sensory Robotics for the Handling of Limp Materials written by Paul M. Taylor and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 339 pages. Available in PDF, EPUB and Kindle. Book excerpt: Limp materials are used in many economically impo~tant industries such as garment manufacture, shoe manufacture, aerospace (composites) and automobiles (seats and trim). The use of sensors is essential for reliable robotic handling of these materials, which are often based on naturally occurring substances such as cotton and leather. The materials are limp and have non-homogeneous mechanical properties which are often impossible to predict accurately. The applications are very demanding for vision and tactile sensing and signal processing, adaptive control systems, planning and systems integration. This book comprises the collection of papers presented at the NATO Advanced Research Workshop on 'Sensory Robotics for the Handling of Limp Materials', held in October 1988 at II Ciocco, Tuscany, Italy. The aim of the workshop was to examine the state of the art and determine what research is needed to provide the theoretical and technological tools for the successful application of sensory robotics to the handling of limp materials. The meeting also acted as the first-ever forum for the interchange of knowledge between applications-driven researchers and those researching into the provision of fundamental tools. The participants were drawn from academia (20), industry (5), and other non-university research organisations (5).

Object Identification and Pose Estimation Using Bio-Inspired Tactile-Enabled Multi-Joint Fingers for In-Hand Manipulation

Author : Vinicius Prado da Fonseca
Publisher :
ISBN 13 :
Total Pages : pages
Book Rating : 4.:/5 (129 download)

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Book Synopsis Object Identification and Pose Estimation Using Bio-Inspired Tactile-Enabled Multi-Joint Fingers for In-Hand Manipulation by : Vinicius Prado da Fonseca

Download or read book Object Identification and Pose Estimation Using Bio-Inspired Tactile-Enabled Multi-Joint Fingers for In-Hand Manipulation written by Vinicius Prado da Fonseca and published by . This book was released on 2020 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: In-hand manipulation is a major challenge that has to be addressed in order for robots to achieve human-like skills and manipulation abilities. A new generation of humanoid robots will need dexterous hands able to deal with uncertainties, especially when they are expected to operate in unstructured environments, such as homes and hospitals. Given the human ability to quickly obtain and understand tactile data, one promising direction in order to achieve enhanced robotic dexterous skills is to investigate and emulate human manipulation capabilities. In humans, a combination of somatosensory subsystems deals with everyday manipulation tasks. This thesis introduces a new approach for estimating the pose of a grasped object by combining tactile sensing data and visual frames of reference inspired by the human "Where" subsystem. While tactile sensing produces local data about objects during in-hand manipulation, a vision system generates egocentric and allocentric frames of reference. Object recognition in the early grasp phases in unstructured environments is also a fundamental ability for robots to achieve human-level manipulation skills. Humans developed a so-called "haptic glance" where non-exploratory manipulation perform fast object identification. Tactile sensors contribute useful information about the objects manipulated by robots, especially during in-hand operations. Drawing inspiration from the functionality of the "What" somatosensory pathway, the proposed solution uses machine learning methods to recognize objects in the early phases of manipulation. The thesis describes innovative work on object recognition using data collected from bio-inspired multi-modal tactile sensing modules in static and dynamic tasks. The system takes advantage of the module's compliant structure and inertial, magnetic and pressure measurements. During all experiments, a dual fuzzy logic controller autonomously achieves and maintains stable grasping conditions while forces applied to in-hand objects expose the tactile system to various object configurations. This thesis also presents results on simultaneous object characterization during exploratory procedures using teleoperation.