SwingBot: Learning Physical Features from In-hand Tactile Exploration for Dynamic Swing-up Manipulation

Maria J. Danford

In get to successfully manipulate physical objects, robots have to have to deduce their physical attributes. Eyesight-based techniques involve structured environments and have confined applications in authentic-world situations. A modern paper indicates employing tactile sensing to infer the physical parameters of an unknown item. Picture Credit rating: NASA First of […]

In get to successfully manipulate physical objects, robots have to have to deduce their physical attributes. Eyesight-based techniques involve structured environments and have confined applications in authentic-world situations. A modern paper indicates employing tactile sensing to infer the physical parameters of an unknown item.

Picture Credit rating: NASA

First of all, two in-hand exploration steps are executed: tilting and shaking. Details from both equally steps is fused to master a joint physical element embedding. A swing-up angle predictor finds optimal regulate parameters working with the acquired facts to swing-up the item to the wished-for pose.

The outcomes demonstrate that the task is attained with an in general 17.two-diploma mistake. The suggested tactic outperforms other techniques that do not use tactile facts. It is shown that the acquired embedding also could be utilised to regress attributes like mass, the second of inertia, or friction.

A number of robot manipulation duties are very delicate to versions of the physical attributes of the manipulated objects. Just one these kinds of task is manipulating objects by working with gravity or arm accelerations, raising the worth of mass, center of mass, and friction facts. We existing SwingBot, a robot that is capable to master the physical features of a held item by way of tactile exploration. Two exploration steps (tilting and shaking) present the tactile facts utilised to create a physical element embedding house. With this embedding, SwingBot is capable to predict the swing angle attained by a robot carrying out dynamic swing-up manipulations on a previously unseen item. Utilizing these predictions, it is capable to lookup for the optimal regulate parameters for a wished-for swing-up angle. We demonstrate that with the acquired physical features our conclusion-to-conclusion self-supervised finding out pipeline is capable to considerably increase the precision of swinging up unseen objects. We also demonstrate that objects with equivalent dynamics are closer to every single other on the embedding house and that the embedding can be disentangled into values of unique physical attributes.

Investigation paper: Wang, C., Wang, S., Romero, B., Veiga, F., and Adelson, E., “SwingBot: Learning Bodily Features from In-hand Tactile Exploration for Dynamic Swing-up Manipulation”, 2021. Url: https://arxiv.org/stomach muscles/2101.11812


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