Improving Robotic Assistant Dexterity
As robotic assistants operate in complex, unstructured human-centered environments it becomes essential that robots
- Have access to as much useful data as possible as they interact with the environment
- Be able to leverage that data using intelligent models of the environment
Challenges for long term deployable robotic systems are
- Being able to handle uncertainty in a known environment
- Being able to reason about the properties of a new object/element in their environment
- Recovering from failure to complete a task/objective
By equipping robots to handle these challenges, we can develop robotic platforms that are capable of sustained, reliable, long-term service deployment.
Research objectives include:
- Design: Can we leverage anthropomorphic inspiration in a curved fingertip capable of deforming and sensing friction?
- Modeling: Can we efficiently model a continuous curved fingertip with high-resolution (in a computationally tractable way) and characterize stable grasps?
- Motion Planning: Can we leverage these efficient, continuous models of our fingertips to plan multi-finger grasps for in-hand manipulation?
- DenseTact 2.0: Optical Tactile Sensor for Shape and Force Reconstruction (preprint)
- DenseTact: Optical Tactile Sensor for Dense Shape Reconstruction