Enhancing In-Hand Deformable Linear Object Following with Dexterous Fingers and Tactile Sensing

핵심 개념

Enhancing in-hand deformable linear object following using dexterous fingers and tactile sensing.

초록

The content explores the challenges of in-hand following of deformable linear objects (DLOs) and proposes a solution using a generic dexterous hand with tactile sensing. The framework includes arm-hand control, tactile-based 3-D DLO pose estimation, and task-specific motion design. Experimental results show the superiority of this method over using parallel grippers in terms of robustness, generalizability, and efficiency.

I. Introduction

• Research on DLO manipulation often assumes rigid grasping.
• Humans use in-hand following for dexterous manipulation.
• Robots struggle with precise in-hand manipulation of DLOs.

II. Related Work

• Previous works have explored DLO manipulation using various methods.
• Challenges exist in accurately estimating the in-hand state of DLOs.

III. Methodology

• The proposed algorithm framework involves arm-hand control, tactile sensing, and motion design.
• Control of the arm-hand system is achieved through IK solvers and force control methods.
• Tactile sensing is used to estimate the 3-D pose of DLOs for better manipulation.

IV. Experimental Results

• Validation experiments demonstrate the effectiveness of the proposed approach.
• Comparison with parallel grippers shows significant advantages in robustness and practicality.
• Generalization to different DLOs, speeds, and tasks highlights the method's versatility.
• Failure cases indicate limitations that need to be addressed for improved performance.

통계

1Department of Automation, Beijing National Research Center for Information Science and Technology, Tsinghua University, China.
2Mechanical Systems Control Lab, UC Berkeley, Berkeley, CA, USA.
*Corresponding authors.

인용구

"Robots struggle with precise in-hand manipulation of DLOs."
"Our approach based on a dexterous hand shows robustness and practicability."

핵심 통찰 요약

In-Hand Following of Deformable Linear Objects Using Dexterous Fingers with Tactile Sensing

by Mingrui Yu,B... 게시일 arxiv.org 03-20-2024

https://arxiv.org/pdf/2403.12676.pdf

더 깊은 질문

How can the proposed method be further optimized for handling heavy or dynamically moving DLOs

To optimize the proposed method for handling heavy or dynamically moving DLOs, several strategies can be implemented:

Enhanced Grip Strength: Incorporating stronger actuators in the dexterous hand to provide a firmer grip on heavier DLOs can prevent slippage and ensure stability during manipulation.

Adaptive Control Algorithms: Implementing adaptive control algorithms that can adjust gripping forces and finger orientations in real-time based on feedback from tactile sensors can help accommodate dynamic movements of DLOs.

Dynamic Motion Planning: Developing motion planning algorithms that anticipate and react to sudden changes in the position or orientation of heavy or dynamically moving DLOs can improve the robustness of the system.

Feedback Fusion: Integrating data from multiple sensors, such as vision systems or force/torque sensors, along with tactile sensing, can provide a more comprehensive understanding of the environment and enable better decision-making when handling challenging scenarios.

Reinforcement Learning: Utilizing reinforcement learning techniques to train the robotic system to adapt its grasping strategy based on past experiences with heavy or dynamic DLOs can enhance its ability to manipulate such objects effectively.

What are the potential limitations or drawbacks of using a dexterous hand with tactile sensing for DLO manipulation

While using a dexterous hand with tactile sensing offers significant advantages for deformable linear object (DLO) manipulation, there are potential limitations and drawbacks to consider:

Complexity of Hardware:

Dexterous hands with high degrees of freedom may introduce complexity in hardware design, calibration, maintenance, and cost compared to simpler grippers.

Sensitivity to Environmental Factors:

Tactile sensors may be sensitive to variations in environmental conditions like lighting, temperature changes, or surface properties which could affect their accuracy.

Limited Grasping Force:

The maximum grasping force provided by a dexterous hand may not be sufficient for securely holding very heavy or rigid DLOs without risking damage.

Real-Time Processing Requirements:

Processing sensory data from tactile sensors for real-time control decisions might pose computational challenges that need efficient algorithms and hardware resources.

Generalization Across Object Types:

The approach's effectiveness across various types of deformable objects beyond cables needs validation as different materials may exhibit unique behaviors.

How can insights from human dexterity be leveraged to enhance robotic manipulation beyond DLO following

Insights from human dexterity offer valuable lessons that could enhance robotic manipulation beyond Deformable Linear Object (DLO) following:

Multi-Modal Sensory Integration:
Leveraging a combination of touch (tactile), sight (vision), proprioception (position sense), and possibly auditory feedback mimicking human sensorimotor integration could improve overall task performance.

2.Learning From Human Motor Skills:
Studying how humans perform intricate tasks involving manual dexterity like knot tying or tool use could inspire new approaches for robot skill acquisition through imitation learning mechanisms.
3.Biomechanical Efficiency:
Understanding how human joints work together synergistically while considering energy efficiency principles might lead to more agile yet power-efficient robotic systems capable of complex manipulations.
4.Cognitive Adaptability:
Emulating cognitive processes underlying human decision-making during object interaction—such as predicting object behavior based on prior experience—could enhance robots' adaptability in unstructured environments.
These insights highlight opportunities for developing more versatile and adaptable robotic systems inspired by human capabilities beyond just manipulating deformable linear objects efficiently."