We present a new gripper and exploration approach that uses a finger with very low reflected inertia for probing and then grasping objects. The finger employs a transparent transmission, resulting in a light touch when contact occurs. The finger elements are stiff and mounted on precise Cartesian axes for accurate proprioceptive sensing. Experiments show that the finger can safely move faster into contacts than industrial parallel jaw grippers or even most force-controlled grippers with backdrivable transmissions. This property allows rapid proprioceptive probing of objects. Contact information is leveraged to execute grasping actions with a contact-first strategy and to reduce environment state uncertainty. We evaluate a particle filtering algorithm that inputs contact information from either proprioception, or a combination of tactile sensing and proprioception, to estimate object location. Both methods can estimate location within 2 mm; combined tactile sensing and proprioception requires fewer observations.

中文翻译：

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探索手：利用安全接触促进在混乱空间中的操纵

我们提出了一种新的抓取器和探索方法，该方法使用反射惯性非常低的手指来探测然后抓取物体。手指采用透明传输，当发生接触时会产生轻触感。手指元件坚硬并安装在精确的直角坐标轴上，可进行精确的本体感受感测。实验表明，与工业平行颚式抓爪或什至大多数具有可逆向传动的力控制抓爪相比，手指可以安全地更快地进入接触。此属性可以快速探测对象的本体感受。利用联系信息来利用“接触优先”策略执行抓紧动作并减少环境状态的不确定性。我们评估了一种粒子过滤算法，该算法会输入来自任何本体感受的联系信息，或触觉和本体感受的组合，以估计物体的位置。两种方法都可以估计2 mm以内的位置。触觉和本体感受的结合需要更少的观察。