Intrinsic Tactile Sensing and System Inversion

Matt Mason

Abstract

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.

Presentation Slides

Pdf (76Kb)

 

Speaker Appointments

For appointments, please contact Matt Mason (mason@cs.cmu.edu).