Visual Pressure Estimation and Control for Soft Robotic Grippers
Patrick Grady,Jeremy A. Collins,Samarth Brahmbhatt,Christopher D. Twigg,Chengcheng Tang,James Hays,Charles C. Kemp,Patrick Grady,Jeremy A. Collins,Samarth Brahmbhatt,Christopher D. Twigg,Chengcheng Tang,James Hays,Charles C. Kemp
Soft robotic grippers facilitate contact-rich manipulation, including robust grasping of varied objects. Yet the beneficial compliance of a soft gripper also results in significant deformation that can make precision manipulation challenging. We present visual pressure estimation & control (VPEC), a method that infers pressure applied by a soft gripper using an RGB image from an external camera. W...
