Improving Grasp Stability with Rotation Measurement from Tactile Sensing

Rotational displacement about the grasping point is a common grasp failure when an object is grasped at a location away from its center of gravity. Tactile sensors with soft surfaces, such as GelSight sensors, can detect the rotation patterns on the contacting surfaces when the object rotates. In this work, we propose a model-based algorithm that detects those rotational patterns and measures rotational displacement using the GelSight sensor. We also integrate the rotation detection feedback into a closed-loop regrasping framework, which detects the rotational failure of grasp in an early stage and drives the robot to a stable grasp pose. We validate our proposed rotation detection algorithm and grasp-regrasp system on self-collected dataset and online experiments to show how our approach accurately detects the rotation and increases grasp stability.

[1]  Danica Kragic,et al.  Analytic grasp success prediction with tactile feedback , 2016, 2016 IEEE International Conference on Robotics and Automation (ICRA).

[2]  Gaurav S. Sukhatme,et al.  Force estimation and slip detection/classification for grip control using a biomimetic tactile sensor , 2015, 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids).

[3]  Guanglin Li,et al.  A piezoelectret-based approach for touching and slipping detection in robotic hands , 2015, 2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER).

[4]  Vincent Duchaine,et al.  Grasp stability assessment through the fusion of proprioception and tactile signals using convolutional neural networks , 2017, 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

[5]  Siddhartha S. Srinivasa,et al.  Object recognition and full pose registration from a single image for robotic manipulation , 2009, 2009 IEEE International Conference on Robotics and Automation.

[6]  Edward H. Adelson,et al.  Improved GelSight tactile sensor for measuring geometry and slip , 2017, 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

[7]  Helge J. Ritter,et al.  Tactile Convolutional Networks for Online Slip and Rotation Detection , 2016, ICANN.

[8]  Henrik I. Christensen,et al.  Automatic grasp planning using shape primitives , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[9]  Nathan F. Lepora,et al.  Slip Detection With a Biomimetic Tactile Sensor , 2018, IEEE Robotics and Automation Letters.

[10]  Claudio Melchiorri,et al.  Slip detection and control using tactile and force sensors , 2000 .

[11]  Danica Kragic,et al.  Data-Driven Grasp Synthesis—A Survey , 2013, IEEE Transactions on Robotics.

[12]  Antonio Bicchi,et al.  Intrinsic contact sensing for soft fingers , 1990, Proceedings., IEEE International Conference on Robotics and Automation.

[13]  Maria Bauzá,et al.  Tactile Regrasp: Grasp Adjustments via Simulated Tactile Transformations , 2018, 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

[14]  E. Guglielmelli,et al.  Artificial Sense of Slip—A Review , 2013, IEEE Sensors Journal.

[15]  Vijay Kumar,et al.  Robotic grasping and contact: a review , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[16]  E. Adelson,et al.  Retrographic sensing for the measurement of surface texture and shape , 2009, 2009 IEEE Conference on Computer Vision and Pattern Recognition.

[17]  Vincent Duchaine,et al.  Grasp stability assessment through unsupervised feature learning of tactile images , 2017, 2017 IEEE International Conference on Robotics and Automation (ICRA).

[18]  Edward H. Adelson,et al.  Measurement of shear and slip with a GelSight tactile sensor , 2015, 2015 IEEE International Conference on Robotics and Automation (ICRA).

[19]  John Hollerbach,et al.  Rigid body load identification for manipulators , 1985, 1985 24th IEEE Conference on Decision and Control.

[20]  Chao Yang,et al.  Learning to detect slip for stable grasping , 2017, 2017 IEEE International Conference on Robotics and Biomimetics (ROBIO).

[21]  Karun B. Shimoga,et al.  Robot Grasp Synthesis Algorithms: A Survey , 1996, Int. J. Robotics Res..

[22]  Andrew Owens,et al.  The Feeling of Success: Does Touch Sensing Help Predict Grasp Outcomes? , 2017, CoRL.

[23]  Karl Van Wyk,et al.  Calibration and Analysis of Tactile Sensors as Slip Detectors , 2018, 2018 IEEE International Conference on Robotics and Automation (ICRA).

[24]  Sachin Chitta,et al.  Human-Inspired Robotic Grasp Control With Tactile Sensing , 2011, IEEE Transactions on Robotics.

[25]  Nikolaos G. Tsagarakis,et al.  Center-of-Mass-Based Grasp Pose Adaptation Using 3D Range and Force/Torque Sensing , 2018, Int. J. Humanoid Robotics.

[26]  Jitendra Malik,et al.  More Than a Feeling: Learning to Grasp and Regrasp Using Vision and Touch , 2018, IEEE Robotics and Automation Letters.

[27]  Mark R. Cutkosky,et al.  Tactile sensor with 3-axis force and vibration sensing functions and its application to detect rotational slip , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.

[28]  Vincent Duchaine,et al.  Determining Object Properties from Tactile Events During Grasp Failure , 2019, 2019 IEEE 15th International Conference on Automation Science and Engineering (CASE).

[29]  Alexander Dietrich,et al.  Experimental comparison of slip detection strategies by tactile sensing with the BioTac® on the DLR hand arm system , 2014, 2014 IEEE International Conference on Robotics and Automation (ICRA).

[30]  Danica Kragic,et al.  Learning tactile characterizations of object- and pose-specific grasps , 2011, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[31]  Yin Li,et al.  Learning to Grasp Without Seeing , 2018, ISER.

[32]  Ashutosh Saxena,et al.  Learning to Grasp Novel Objects Using Vision , 2006, ISER.