Tactile Sensing-based Secure and Gentle Grasping of Unknown Objects

Engineering notes

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Chinese explanation / 中文解读

中文解读待补充：本站会优先为 VLA、具身智能、人形机器人控制、机器人操作等高价值论文补充中文说明。

Original abstract

Reliable robotic manipulation requires maintaining a firm grasp while strictly avoiding both contact slip and structural damage to the object. Satisfying these inherent \textit{secure-and-gentle} grasping constraints is challenging for unknown objects. We present a novel online data-driven predictive control framework for safe dynamic robotic grasping of unknown objects. The proposed system features a pair of compact, single-channel tactile-sensing modules that characterize the gripper-object dynamic interaction in real time, entirely bypassing the need for prior knowledge or offline training. A finite-state-machine-based grasping force probing mechanism is developed to establish the initial grasping force and explicitly identify grasping force constraints. Through online dynamics learning, a Gaussian Process (GP) model captures gripper-object interaction dynamics. The model uncertainties are further used to form robust grasping constraints, which are embedded into a model predictive control scheme. We demonstrate error convergence in a probabilistic sense. The proposed control framework runs at 100~Hz in real time to dynamically manipulate and handle objects rather than static holding. Extensive experimental evaluations across diverse contact surface topologies and various types of objects validate superior performance and efficiency compared to baseline strategies. The proposed method is able to manipulate objects ranging from delicate items, such as raw tofu and marshmallows, to rough objects, such as rocks.

Links and sources

• Official / arXiv page
• PDF from original source

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