Pose from Pushing
Yan-Bin Jia and Michael Erdmann
Proceedings of the 1996 IEEE International Conference on Robotics
and Automation, Minneapolis, Minnesota, pp. 165-171.
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.