SEED: Series Elastic End Effectors in 6D for Visuotactile Tool Use
H.J. Terry Suh,Naveen Kuppuswamy,Tao Pang,Paul Mitiguy,Alex Alspach,Russ Tedrake,H.J. Terry Suh,Naveen Kuppuswamy,Tao Pang,Paul Mitiguy,Alex Alspach,Russ Tedrake
We propose the framework of Series Elastic End Effectors in 6D (SEED), which combines a spatially compliant element with visuotactile sensing to grasp and manipulate tools in the wild. Our framework generalizes the benefits of series elasticity to 6-dof, while providing an abstraction of control using visuotactile sensing. We propose an algorithm for relative pose estimation from visuotactile sens...
