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Carnegie Mellon Robotics Institute

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Abstract

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 instantaneous 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.

Notes

Note: (selected as a finalist for the Best Conference Paper Award)

Text Reference

Yan-Bin Jia and Michael Erdmann, "Pose from Pushing," Proceedings of the IEEE International Conference on Robotics and Automation, June, 1996, pp. 165-171.

BibTeX Reference

@inproceedings{Jia_1996_1603,
   author = "Yan-Bin Jia and Michael Erdmann",
   title = "Pose from Pushing",
   booktitle = "Proceedings of the IEEE International Conference on Robotics and Automation",
   pages = "165-171",
   month = "June",
   year = "1996",
   Notes = "(selected as a finalist for the Best Conference Paper Award)"
}

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