joe romano 09.02...joe romano 09.02.10 2 haptics • “the study of the sense of touch.”...

Joe Romano09.02.10

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Haptics• “The study of the sense of touch.”

Neuroscience

Robotics

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Haptics

• Kinesthetic (proprioceptive) and tactile (cutaneous) feedback

• Inherently bidirectionalSensing and actuating are linkedControl becomes a “logical loop”

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Robots look stupid without tactile sensing

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Dangerous and unnecessary damage to robot and environment

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Advances in PR2 Tactile Sensing this Summer

• Delicate grasping and manipulation• Contact event detection (even through hand-held

objects and tools)

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Tactile SensorsHuman

Johansson and FlanaganNature Reviews Neuroscience

Robot

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How Humans Grasp

Johansson and Flanagan

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How The Robot Grasps

SA-I

FA-I

FA-II

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How The Robot Grasps

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Initial Grip Force Estimation

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Additional Results

=

Slip PerformanceReduced Motor Effort

Reduced Grip Force

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Grasp Pipeline

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Pick and Place

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Event Detection

• Table contact (Kaijen)• High-fives (me)• Beer hand-off (Gil)• Arm impact (Sachin)• Tools (Peter)

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Event Detection

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Event Detection

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Future Work

• Integrate proprioceptive information

• Improve the initial force estimate in grasp-pipeline using additional information

• Learning manipulation task state through observing actions and feedback

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Code Availability• Package: pr2_gripper_sensor_action

Released as part of grasp-pipeline 0.22Heavily documented on ROS Wiki

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Code Availability

• Package: haptic_event_detectorPart of trunk sandbox

• Package: pr2_propsPart of trunk sandboxDocumented on the Wiki

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Thanks• My advisors: Gunter/Kaijen (Katherine at Penn)

• Sachin, Matei, Derek

Thanks to everyone at Willow for a great summer!