Soft hands allow to simplify the grasp planning to achieve a successful grasp, thanks to their intrinsic adaptability. At the same time, their usage poses new challenges, related to the adoption of classical sensing techniques originally developed for rigid end defectors, which provide fundamental information, such as to detect object slippage. Under this regard, model-based approaches for the processing of the gathered information are hard to use, due to the difficulties in modeling hand-object interaction when softness is involved. To overcome these limitations, in this article, we proposed to combine distributed tactile sensing and machine learning (recurrent neural network) to detect sliding conditions for a soft robotic hand mounted on a robotic manipulator, targeting the prediction of the grasp failure event and the direction of sliding. The outcomes of these predictions allow for an online triggering of a compensatory action performed with a second robotic arm-hand system, to prevent the failure. Despite the fact that the network is trained only with spherical and cylindrical objects, we demonstrate high generalization capabilities of our framework, achieving a correct prediction of the failure direction in 75 % of cases, and a 85 % of successful regrasps, for a selection of 12 objects of common use.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Learning to Prevent Grasp Failure with Soft Hands: From Online Prediction to Dual‐Arm Grasp Recovery



    Erscheinungsdatum :

    01.01.2022



    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629



    Grasp Analysis Tools for Synergistic Underactuated Robotic Hands

    GABICCINI, MARCO / FARNIOLI, EDOARDO / BICCHI, ANTONIO | BASE | 2013

    Freier Zugriff

    Kinematic chains for robot hands: Grasp and rigidity

    Srinath, A. | Online Contents | 2007


    Learning from humans how to grasp: a data-driven architecture for autonomous grasping with anthropomorphic soft hands

    Della Santina, Cosimo / Arapi, Visar / Averta, Giuseppe et al. | BASE | 2019

    Freier Zugriff


    Motion mapping in master-slave grasp for dexterous hands

    Jiting, L. / Yuru, Z. | British Library Online Contents | 2005