ICRA 2017poster46 citations
Pre-touch sensing for sequential manipulation
Boling Yang, Patrick Lancaster, Joshua R. Smith
Abstract
The primary focus of this work is to examine how robots can achieve more robust sequential manipulation through the use of pre-touch sensors. The utility of close-range proximity sensing is evaluated through a robotic system that uses a new optical time-of-flight pre-touch sensor to complete a highly precise and sequential task - solving the Rubik's cube. The techniques used in this task are then extended to a more general framework in which ICP is used to match pre-touch data to a reference model, demonstrating that even simple pre-touch scans can be used to recover the pose of common objects that require sequential manipulation.
BibTeX
@inproceedings{icra2017_pretouchsensingf,
title = {Pre-touch sensing for sequential manipulation},
author = {Boling Yang and Patrick Lancaster and Joshua R. Smith},
booktitle = {ICRA 2017},
year = {2017}
}