Improving Grasp Stability with Rotation Measurement from Tactile Sensing
Raj Kolamuri,Zilin Si,Yufan Zhang,Arpit Agarwal,Wenzhen Yuan,Raj Kolamuri,Zilin Si,Yufan Zhang,Arpit Agarwal,Wenzhen Yuan
Rotational displacement about the grasping point is a common grasp failure when an object is grasped at a location away from its center of gravity. Tactile sensors with soft surfaces, such as GelSight sensors, can detect the rotation patterns on the contacting surfaces when the object rotates. In this work, we propose a model-based algorithm that detects those rotational patterns and measures rota...
