Foundations of Robotics Seminar, June 18
Time
and Place | Seminar
Abstract | Speaker
Biography
| Presentation Slides | Speaker
Appointments
Intrinsic Tactile Sensing and System Inversion
Matt Mason
3305 Newell-Simon
Hall
Refreshments 4:15 pm
Talk 4:30 pm
This talk is the first of two talks by myself and Sidd Srinivasa on
intrinsic tactile sensing for mobile manipulation. "Intrinsic tactile
sensing" refers to a well-known technique to infer tactile information
from sensed deformations of a compliant structure. Mike Erdmann, Sidd
Srinivasa and I are working on applying this idea to mobile manipulation.
At present we are studying an approach published by Bicchi, Caiti, and
Prattichizzo. They developed a dynamical system model of the structural
deformation, with the applied forces as inputs and the sensor readings as
outputs. Intrinsic tactile sensing then becomes a system inversion
problem--to map from outputs (sensor readings) back to inputs (applied
forces). After describing our project on intrinsic tactile sensing for
mobile manipulation, the talk will cover some basic concepts and results
on the invertibility of linear systems. Sidd Srinivasa's talk, in a
couple of weeks, will focus on dynamic system models of compliant
structures, and will also correct all mistakes or misunderstandings
remaining from my talk.
Pdf (76Kb)
For appointments, please
contact Matt Mason (mason@cs.cmu.edu).
The Robotics Institute is part of the School of Computer Science, Carnegie Mellon University.