Rotating Objects via in-Hand Pivoting Using Vision, Force and Touch
Shiyu Xu,Tianyuan Liu,Michael Wong,Dana Kulić,Akansel Cosgun,Shiyu Xu,Tianyuan Liu,Michael Wong,Dana Kulić,Akansel Cosgun
We propose a robotic manipulation method that can pivot objects on a surface using vision, wrist force and tactile sensing. We aim to control the rotation of an object around the grip point of a parallel gripper by allowing rotational slip, while maintaining a desired wrist force profile. Our approach runs an end-effector position controller and a gripper width controller concurrently in a closed ...
