Learning continuous grasp stability for a humanoid robot hand based on tactile sensing

摘要

Grasp stability estimation with complex robots in environments with uncertainty is a major research challenge. Analytical measures such as force closure based grasp quality metrics are often impractical because tactile sensors are unable to measure contacts accurately enough especially in soft contact cases. Recently, an alternative approach of learning the stability based on examples has been proposed. Current approaches of stability learning analyze the tactile sensor readings only at the end of the grasp attempt, which makes them somewhat time consuming, because the grasp can be stable already earlier. In this paper, we propose an approach for grasp stability learning, which estimates the stability continuously during the grasp attempt. The approach is based on temporal filtering of a support vector machine classifier output. Experimental evaluation is performed on an anthropomorphic ARMAR-IIIb. The results demonstrate that the continuous estimation provides equal performance to the earlier approaches while reducing the time to reach a stable grasp significantly. Moreover, the results demonstrate for the first time that the learning based stability estimation can be used with a flexible, pneumatically actuated hand, in contrast to the rigid hands used in earlier works.