TEXterity: Tactile Extrinsic deXterity
Antonia Bronars,Sangwoon Kim,Parag Patre,Alberto Rodriguez,Antonia Bronars,Sangwoon Kim,Parag Patre,Alberto Rodriguez
We introduce a novel approach that combines tactile estimation and control for in-hand object manipulation. By integrating measurements from robot kinematics and an image-based tactile sensor, our framework estimates and tracks object pose while simultaneously generating motion plans in a receding horizon fashion to control the pose of a grasped object. This approach consists of a discrete pose es...
