A Simple Learning Algorithm for Contact-Rich Robotic Grasping |
| M. Przybylskia, J. Klimaszewskia, K. Wildnerb
aFaculty of Mechatronics, Institute of Automatic Control and Robotics, Warsaw University of Technology, św. A. Boboli 8, 02-525 Warsaw, Poland bFaculty of Mechatronics, Institute of Metrology and Biomedical Engineering, Warsaw University of Technology, św. A. Boboli 8, 02-525 Warsaw, Poland |
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| This paper presents the preliminary results of the work on a control algorithm for a two-finger gripper equipped with an electronic skin (e-skin). The e-skin measures the magnitude and location of the pressure applied to it. Contact localization allowed the development of a reliable control algorithm for robotic grasping. The main contribution of this work is the learning algorithm that adjusts the pose of the gripper during the pre-grasp approach step based on contact information. The algorithm was tested on different objects and showed comparable grasping reliability to the vision-based approach. The developed tactile sensor-rich gripper with a dedicated control algorithm may find applications in various fields, from industrial robotics to advanced interactive robots. |
DOI:10.12693/APhysPolA.146.497 topics: robotic manipulation, contact-rich manipulation, electronic skin, learning algorithm |