Intuitive tasks planning using visuo-tactile perception for human robot cooperation
arXiv preprint arXiv:2104.00342, 2021•arxiv.org
Designing robotic tasks for co-manipulation necessitates to exploit not only proprioceptive
but also exteroceptive information for improved safety and autonomy. Following such
instinct, this research proposes to formulate intuitive robotic tasks following human viewpoint
by incorporating visuo-tactile perception. The visual data using depth cameras surveils and
determines the object dimensions and human intentions while the tactile sensing ensures to
maintain the desired contact to avoid slippage. Experiment performed on robot platform with …
but also exteroceptive information for improved safety and autonomy. Following such
instinct, this research proposes to formulate intuitive robotic tasks following human viewpoint
by incorporating visuo-tactile perception. The visual data using depth cameras surveils and
determines the object dimensions and human intentions while the tactile sensing ensures to
maintain the desired contact to avoid slippage. Experiment performed on robot platform with …
Designing robotic tasks for co-manipulation necessitates to exploit not only proprioceptive but also exteroceptive information for improved safety and autonomy. Following such instinct, this research proposes to formulate intuitive robotic tasks following human viewpoint by incorporating visuo-tactile perception. The visual data using depth cameras surveils and determines the object dimensions and human intentions while the tactile sensing ensures to maintain the desired contact to avoid slippage. Experiment performed on robot platform with human assistance under industrial settings validates the performance and applicability of proposed intuitive task formulation.
arxiv.org