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