Date of Original Version

1996

Type

Conference Proceeding

Abstract or Description

In the absence of vision, grasping an object often relies on tactile feedback from the fingertips. Before force closure is formed, where on the object a fingertip touches can usually be felt from the motion of contact on the fingertip during a small amount of pushing. In this paper we investigate the first stage of such “blind” grasping. More specifically, we study the problem of determining the pose of a known planar object by pushing. Assuming sliding friction in the plane, a dynamic analysis of pushing results in a numerical algorithm that computes the object pose from three instan- taneous contact positions on a fingertip. Simulations and experiments (with an Adept robot) have been conducted to demonstrate the sensing feasibility.

Inspired by the way a human hand grasps, this work can be viewed as a primitive step in exploring interactive sensing in grasping tasks.

Comments

"©1996 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE."

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Published In

Proceedings of the IEEE International Conference on Robotics and Automation, 165-171.