Tactile Estimation of Extrinsic Contact Patch for Stable Placement

arXiv:2309.14552v2 Announce Type: replace-cross
Abstract: Precise perception of contact interactions is essential for fine-grained manipulation skills for robots. In this paper, we present the design of feedback skills for robots that must learn to stack complex-shaped objects on top of each other (see Fig.1). To design such a system, a robot should be able to reason about the stability of placement from very gentle contact interactions. Our results demonstrate that it is possible to infer the stability of object placement …

abstract arxiv cs.ai cs.lg cs.ro design feedback fine-grained interactions learn manipulation objects paper perception placement robot robots skills stack type