Realtime State Estimation with Tactile and Visual Sensing for Inserting a Suction-held Object
We develop a real-time state estimation system to recover the pose and contact formation of an object relative to its environment. In this paper, we focus on the application of inserting an object picked by a suction cup into a tight space, a key technology for robotic packaging. We propose a framew...
| Main Authors: | , |
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| Other Authors: | |
| Format: | Article |
| Language: | English |
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Institute of Electrical and Electronics Engineers (IEEE)
2020
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| Online Access: | https://hdl.handle.net/1721.1/128648 |
| _version_ | 1826197282888876032 |
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| author | Yu, Kuan-Ting Rodriguez Garcia, Alberto |
| author2 | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory |
| author_facet | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory Yu, Kuan-Ting Rodriguez Garcia, Alberto |
| author_sort | Yu, Kuan-Ting |
| collection | MIT |
| description | We develop a real-time state estimation system to recover the pose and contact formation of an object relative to its environment. In this paper, we focus on the application of inserting an object picked by a suction cup into a tight space, a key technology for robotic packaging. We propose a framework that fuses tactile and visual sensing. Visual sensing is versatile and non-intrusive, but suffers from occlusions and limited accuracy, especially for tasks involving contact. Tactile sensing is local, but provides accuracy and robustness to occlusions. The proposed algorithm to fuse them is based on iSAM, an on-line estimation technique, which we use to incorporate kinematic measurements from the robot, contact geometry of the object and the container, and visual tracking. In this paper, we generalize previous results in planar settings [1] to a 3D task with more complex contact interactions. A key challenge is that we do not observe contact locations between the suction-held object and the container directly. We propose a data-driven method to infer the contact formation, which is then used in real-time by the state estimator. We demonstrate and evaluate the algorithm in a setup instrumented to provide groundtruth. |
| first_indexed | 2024-09-23T10:45:19Z |
| format | Article |
| id | mit-1721.1/128648 |
| institution | Massachusetts Institute of Technology |
| language | English |
| last_indexed | 2024-09-23T10:45:19Z |
| publishDate | 2020 |
| publisher | Institute of Electrical and Electronics Engineers (IEEE) |
| record_format | dspace |
| spelling | mit-1721.1/1286482022-09-30T22:46:11Z Realtime State Estimation with Tactile and Visual Sensing for Inserting a Suction-held Object Yu, Kuan-Ting Rodriguez Garcia, Alberto Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology. Department of Mechanical Engineering We develop a real-time state estimation system to recover the pose and contact formation of an object relative to its environment. In this paper, we focus on the application of inserting an object picked by a suction cup into a tight space, a key technology for robotic packaging. We propose a framework that fuses tactile and visual sensing. Visual sensing is versatile and non-intrusive, but suffers from occlusions and limited accuracy, especially for tasks involving contact. Tactile sensing is local, but provides accuracy and robustness to occlusions. The proposed algorithm to fuse them is based on iSAM, an on-line estimation technique, which we use to incorporate kinematic measurements from the robot, contact geometry of the object and the container, and visual tracking. In this paper, we generalize previous results in planar settings [1] to a 3D task with more complex contact interactions. A key challenge is that we do not observe contact locations between the suction-held object and the container directly. We propose a data-driven method to infer the contact formation, which is then used in real-time by the state estimator. We demonstrate and evaluate the algorithm in a setup instrumented to provide groundtruth. 2020-11-24T22:53:32Z 2020-11-24T22:53:32Z 2019-01 2018-10 2020-07-31T18:32:06Z Article http://purl.org/eprint/type/ConferencePaper 9781538680940 https://hdl.handle.net/1721.1/128648 Yu, Kuan-Ting and Alberto Rodriguez. "Realtime State Estimation with Tactile and Visual Sensing for Inserting a Suction-held Object." IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October 2018, Madrid, Spain, Institute of Electrical and Electronics Engineers (IEEE), December 2019. © 2018 IEEE en http://dx.doi.org/10.1109/iros.2018.8594077 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Creative Commons Attribution-Noncommercial-Share Alike http://creativecommons.org/licenses/by-nc-sa/4.0/ application/pdf Institute of Electrical and Electronics Engineers (IEEE) arXiv |
| spellingShingle | Yu, Kuan-Ting Rodriguez Garcia, Alberto Realtime State Estimation with Tactile and Visual Sensing for Inserting a Suction-held Object |
| title | Realtime State Estimation with Tactile and Visual Sensing for Inserting a Suction-held Object |
| title_full | Realtime State Estimation with Tactile and Visual Sensing for Inserting a Suction-held Object |
| title_fullStr | Realtime State Estimation with Tactile and Visual Sensing for Inserting a Suction-held Object |
| title_full_unstemmed | Realtime State Estimation with Tactile and Visual Sensing for Inserting a Suction-held Object |
| title_short | Realtime State Estimation with Tactile and Visual Sensing for Inserting a Suction-held Object |
| title_sort | realtime state estimation with tactile and visual sensing for inserting a suction held object |
| url | https://hdl.handle.net/1721.1/128648 |
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