Multi-fingered Tactile Servoing for Grasping Adjustment under Partial Observation
Hanzhong Liu,Bidan Huang,Qiang Li,Yu Zheng,Yonggen Ling,Wangwei Lee,Yi Liu,Ya-Yen Tsai,Chenguang Yang,Hanzhong Liu,Bidan Huang,Qiang Li,Yu Zheng,Yonggen Ling,Wangwei Lee,Yi Liu,Ya-Yen Tsai,Chenguang Yang
Grasping of objects using multi-fingered robotic hands often fails due to small uncertainties in the hand motion control and the object's pose estimation. To tackle this problem, we propose a grasping adjustment strategy based on tactile seroving. Our technique employs feedback from a sensorized multi-fingered robotic hand to collaboratively servo the fingers and palm to achieve the desired grasp....
