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.

中文翻译：

---

通过触觉感知的旋转测量提高抓握稳定性

当物体在远离其重心的位置被抓取时，围绕抓取点的旋转位移是一种常见的抓取失败。具有柔软表面的触觉传感器，例如 GelSight 传感器，可以检测物体旋转时接触表面的旋转模式。在这项工作中，我们提出了一种基于模型的算法，该算法检测这些旋转模式并使用 GelSight 传感器测量旋转位移。我们还将旋转检测反馈集成到闭环重抓取框架中，该框架在早期检测抓取的旋转失败并驱动机器人到稳定的抓取姿势。