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Cable manipulation with a tactile-reactive gripper
The International Journal of Robotics Research ( IF 9.2 ) Pub Date : 2021-08-06 , DOI: 10.1177/02783649211027233
Yu She 1 , Shaoxiong Wang 1 , Siyuan Dong 2 , Neha Sunil 3 , Alberto Rodriguez 3 , Edward Adelson 1
Affiliation  

Cables are complex, high-dimensional, and dynamic objects. Standard approaches to manipulate them often rely on conservative strategies that involve long series of very slow and incremental deformations, or various mechanical fixtures such as clamps, pins, or rings. We are interested in manipulating freely moving cables, in real time, with a pair of robotic grippers, and with no added mechanical constraints. The main contribution of this paper is a perception and control framework that moves in that direction, and uses real-time tactile feedback to accomplish the task of following a dangling cable. The approach relies on a vision-based tactile sensor, GelSight, that estimates the pose of the cable in the grip, and the friction forces during cable sliding. We achieve the behavior by combining two tactile-based controllers: (1) cable grip controller, where a PD controller combined with a leaky integrator regulates the gripping force to maintain the frictional sliding forces close to a suitable value; and (2) cable pose controller, where an linear–quadratic regulator controller based on a learned linear model of the cable sliding dynamics keeps the cable centered and aligned on the fingertips to prevent the cable from falling from the grip. This behavior is possible with the use of reactive gripper fitted with GelSight-based high-resolution tactile sensors. The robot can follow 1 m of cable in random configurations within two to three hand regrasps, adapting to cables of different materials and thicknesses. We demonstrate a robot grasping a headphone cable, sliding the fingers to the jack connector, and inserting it. To the best of the authors’ knowledge, this is the first implementation of real-time cable following without the aid of mechanical fixtures. Videos are available at http://gelsight.csail.mit.edu/cable/



中文翻译:

使用触觉反应夹具进行电缆操作

电缆是复杂的、高维的、动态的物体。操纵它们的标准方法通常依赖于保守的策略,这些策略涉及一长串非常缓慢和渐进的变形,或各种机械固定装置,例如夹子、销或环。我们有兴趣使用一对机器人夹具实时操纵自由移动的电缆,并且没有额外的机械约束。本文的主要贡献是一个感知和控制框架,该框架沿该方向移动,并使用实时触觉反馈来完成跟随悬垂电缆的任务。该方法依赖于基于视觉的触觉传感器 GelSight,它可以估计电缆在手柄中的姿势以及电缆滑动期间的摩擦力。我们通过结合两个基于触觉的控制器来实现行为:(1)电缆夹控制器,其中 PD 控制器与泄漏积分器相结合,可调节夹持力以保持摩擦滑动力接近合适的值;(2) 缆索姿态控制器,其中基于缆索滑动动力学的学习线性模型的线性-二次调节器控制器使缆索在指尖保持居中并对齐,以防止缆索从手柄上掉落。使用装有基于 GelSight 的高分辨率触觉传感器的反应式抓手,这种行为是可能的。机器人可以在 2 到 3 次手重新抓握内以随机配置跟随 1 m 电缆,适应不同材料和厚度的电缆。我们演示了一个机器人抓住耳机线,将手指滑动到插孔连接器,然后将其插入。据作者所知,这是第一次在没有机械夹具帮助的情况下实现实时电缆跟踪。视频可在 http://gelsight.csail.mit.edu/cable/ 获得

更新日期:2021-08-07
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