标题: Transform Your Yard Work with the Wood Ranger Power Shears [打印本页] 作者: AlenaThurs 时间: 4 天前 11:37标题: Transform Your Yard Work with the Wood Ranger Power Shears
This paper presents a shear-based control scheme for grasping and manipulating delicate objects with a Pisa/IIT anthropomorphic SoftHand outfitted with tender biomimetic tactile sensors on all 5 fingertips. These ‘microTac’ tactile sensors are miniature variations of the TacTip imaginative and prescient-primarily based tactile sensor, and might extract precise contact geometry and force information at every fingertip for use as suggestions into a controller to modulate the grasp whereas a held object is manipulated. Using a parallel processing pipeline, we asynchronously seize tactile photographs and predict contact pose and drive from a number of tactile sensors. Consistent pose and power fashions throughout all sensors are developed utilizing supervised deep studying with switch learning techniques. We then develop a grasp management framework that uses contact force feedback from all fingertip sensors concurrently, permitting the hand to safely handle delicate objects even under exterior disturbances. This management framework is utilized to a number of grasp-manipulation experiments: first, retaining a flexible cup in a grasp without crushing it underneath changes in object weight; second, a pouring process the place the middle of mass of the cup changes dynamically; and third, a tactile-pushed chief-follower process where a human guides a held object.
