joe romano 09.02...joe romano 09.02.10 2 haptics • “the study of the sense of touch.”...
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Joe Romano09.02.10
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Haptics• “The study of the sense of touch.”
Neuroscience
Robotics
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Haptics
• Kinesthetic (proprioceptive) and tactile (cutaneous) feedback
• Inherently bidirectionalSensing and actuating are linkedControl becomes a “logical loop”
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Robots look stupid without tactile sensing
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Dangerous and unnecessary damage to robot and environment
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Advances in PR2 Tactile Sensing this Summer
• Delicate grasping and manipulation• Contact event detection (even through hand-held
objects and tools)
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Tactile SensorsHuman
Johansson and FlanaganNature Reviews Neuroscience
Robot
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How Humans Grasp
Johansson and Flanagan
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How The Robot Grasps
SA-I
FA-I
FA-II
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How The Robot Grasps
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Initial Grip Force Estimation
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Additional Results
=
Slip PerformanceReduced Motor Effort
Reduced Grip Force
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Grasp Pipeline
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Pick and Place
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Event Detection
• Table contact (Kaijen)• High-fives (me)• Beer hand-off (Gil)• Arm impact (Sachin)• Tools (Peter)
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Event Detection
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Event Detection
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Future Work
• Integrate proprioceptive information
• Improve the initial force estimate in grasp-pipeline using additional information
• Learning manipulation task state through observing actions and feedback
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Code Availability• Package: pr2_gripper_sensor_action
Released as part of grasp-pipeline 0.22Heavily documented on ROS Wiki
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Code Availability
• Package: haptic_event_detectorPart of trunk sandbox
• Package: pr2_propsPart of trunk sandboxDocumented on the Wiki
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Thanks• My advisors: Gunter/Kaijen (Katherine at Penn)
• Sachin, Matei, Derek
Thanks to everyone at Willow for a great summer!