Punyo-1: Soft tactile-sensing upper-body robot for large object manipulation and physical human interaction
The manipulation of large objects and safe operation in the vicinity of humans are key capabilities of a general purpose domestic robotic assistant. We present the design of a soft, tactile-sensing humanoid upper-body robot and demonstrate whole-body rich-contact manipulation strategies for handling...
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| creator | Goncalves, Aimee Kuppuswamy, Naveen Beaulieu, Andrew Uttamchandani, Avinash Tsui, Katherine M Alspach, Alex |
| description | The manipulation of large objects and safe operation in the vicinity of
humans are key capabilities of a general purpose domestic robotic assistant. We
present the design of a soft, tactile-sensing humanoid upper-body robot and
demonstrate whole-body rich-contact manipulation strategies for handling large
objects. We demonstrate our hardware design philosophy for outfitting
off-the-shelf hard robot arms and other components with soft tactile-sensing
modules, including: (i) low-cost, cut-resistant, contact pressure localizing
coverings for the arms, (ii) paws based on TRI's Soft-bubble sensors for the
end effectors, and (iii) compliant force/geometry sensors for the coarse
geometry sensing chest. We leverage the mechanical intelligence and tactile
sensing of these modules to develop and demonstrate motion primitives for
whole-body grasping. We evaluate the hardware's effectiveness in achieving
grasps of varying strengths over a variety of large domestic objects. Our
results demonstrate the importance of exploiting softness and tactile sensing
in contact-rich manipulation strategies, as well as a path forward for
whole-body force-controlled interactions with the world. (The supplemental
video is available publicly at https://youtu.be/G8ZYgPRV5LY). |
| doi_str_mv | 10.48550/arxiv.2111.09354 |
| format | Article |
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humans are key capabilities of a general purpose domestic robotic assistant. We
present the design of a soft, tactile-sensing humanoid upper-body robot and
demonstrate whole-body rich-contact manipulation strategies for handling large
objects. We demonstrate our hardware design philosophy for outfitting
off-the-shelf hard robot arms and other components with soft tactile-sensing
modules, including: (i) low-cost, cut-resistant, contact pressure localizing
coverings for the arms, (ii) paws based on TRI's Soft-bubble sensors for the
end effectors, and (iii) compliant force/geometry sensors for the coarse
geometry sensing chest. We leverage the mechanical intelligence and tactile
sensing of these modules to develop and demonstrate motion primitives for
whole-body grasping. We evaluate the hardware's effectiveness in achieving
grasps of varying strengths over a variety of large domestic objects. Our
results demonstrate the importance of exploiting softness and tactile sensing
in contact-rich manipulation strategies, as well as a path forward for
whole-body force-controlled interactions with the world. (The supplemental
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humans are key capabilities of a general purpose domestic robotic assistant. We
present the design of a soft, tactile-sensing humanoid upper-body robot and
demonstrate whole-body rich-contact manipulation strategies for handling large
objects. We demonstrate our hardware design philosophy for outfitting
off-the-shelf hard robot arms and other components with soft tactile-sensing
modules, including: (i) low-cost, cut-resistant, contact pressure localizing
coverings for the arms, (ii) paws based on TRI's Soft-bubble sensors for the
end effectors, and (iii) compliant force/geometry sensors for the coarse
geometry sensing chest. We leverage the mechanical intelligence and tactile
sensing of these modules to develop and demonstrate motion primitives for
whole-body grasping. We evaluate the hardware's effectiveness in achieving
grasps of varying strengths over a variety of large domestic objects. Our
results demonstrate the importance of exploiting softness and tactile sensing
in contact-rich manipulation strategies, as well as a path forward for
whole-body force-controlled interactions with the world. (The supplemental
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humans are key capabilities of a general purpose domestic robotic assistant. We
present the design of a soft, tactile-sensing humanoid upper-body robot and
demonstrate whole-body rich-contact manipulation strategies for handling large
objects. We demonstrate our hardware design philosophy for outfitting
off-the-shelf hard robot arms and other components with soft tactile-sensing
modules, including: (i) low-cost, cut-resistant, contact pressure localizing
coverings for the arms, (ii) paws based on TRI's Soft-bubble sensors for the
end effectors, and (iii) compliant force/geometry sensors for the coarse
geometry sensing chest. We leverage the mechanical intelligence and tactile
sensing of these modules to develop and demonstrate motion primitives for
whole-body grasping. We evaluate the hardware's effectiveness in achieving
grasps of varying strengths over a variety of large domestic objects. Our
results demonstrate the importance of exploiting softness and tactile sensing
in contact-rich manipulation strategies, as well as a path forward for
whole-body force-controlled interactions with the world. (The supplemental
video is available publicly at https://youtu.be/G8ZYgPRV5LY).</abstract><doi>10.48550/arxiv.2111.09354</doi><oa>free_for_read</oa></addata></record> |
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| identifier | DOI: 10.48550/arxiv.2111.09354 |
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| subjects | Computer Science - Robotics |
| title | Punyo-1: Soft tactile-sensing upper-body robot for large object manipulation and physical human interaction |
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