Pose from Pushing
Yan-Bin Jia and Michael Erdmann
1996 IEEE International Conference on Robotics and Automation
In the absence of vision, grasping an object often relies on
tactile feedback from the fingertips. Before force closure is formed,
where on the object a fingertip touches can usually be felt from the
motion of contact on the fingertip during a small amount of pushing.
In this paper we investigate the first stage of such ``blind''
grasping. More specifically, we study the problem of determining the
pose of a known planar object by pushing. Assuming sliding
friction in the plane, a dynamic analysis of pushing results in a
numerical algorithm that computes the object pose from three
instantaneous contact positions on a fingertip. Simulations and
experiments (with an Adept robot) have been conducted to demonstrate
the sensing feasibility.
Inspired by the way a human hand grasps, this work can be viewed as a
primitive step in exploring interactive sensing in grasping tasks.