SEED: Series Elastic End Effectors in 6D for Visuotactile Tool Use

H.J. Terry Suh; Naveen Kuppuswamy; Tao Pang; Paul Mitiguy; Alex Alspach; Russ Tedrake

IROS 2022poster17 citations

SEED: Series Elastic End Effectors in 6D for Visuotactile Tool Use

H.J. Terry Suh, Naveen Kuppuswamy, Tao Pang, Paul Mitiguy, Alex Alspach, Russ Tedrake

Abstract

We propose the framework of Series Elastic End Effectors in 6D (SEED), which combines a spatially compliant element with visuotactile sensing to grasp and manipulate tools in the wild. Our framework generalizes the benefits of series elasticity to 6-dof, while providing an abstraction of control using visuotactile sensing. We propose an algorithm for relative pose estimation from visuotactile sensing, and a spatial hybrid force-position controller capable of achieving stable force interaction with the environment. We demonstrate the effectiveness of our framework on tools that require regulation of spatial forces. Video link: https://youtu.be/2-YuIfspDrk.

BibTeX

@inproceedings{iros2022_seedserieselasti,
  title = {SEED: Series Elastic End Effectors in 6D for Visuotactile Tool Use},
  author = {H.J. Terry Suh and Naveen Kuppuswamy and Tao Pang and Paul Mitiguy and Alex Alspach and Russ Tedrake},
  booktitle = {IROS 2022},
  year = {2022}
}