iCub grasps a fragile plastic cup with its tactile sensors

First, without tactile feedback, iCub crushes the cup. Subsequently, with tactile feedback, it grasps the cup without deforming it. The algorithm is simple: for each finger, when one of the taxels gets activated above a certain threshold, iCub stops to close its hand. Also the activation of the tactile sensors in the fingertips is shown; with feedback control it is so low that is not visible. This visualization also shows the schematic representation of how the sensors are distributed on the fingers and the palm of iCub.

Category:

Science & Technology

Tags:

• iCub
• humanoid
• robot
• tactile sensors
• tactile sensing
• capacitive sensor
• grasping

[wlorenz65]

@Juefawn Forget it! For world learning, touch is at least as important as vision!

[wlorenz65]

If the activation "is so low that [it] is not visible", then the people who programmed the display routine made a mistake. Don't you differ between touch and pain?

And did you teach iCub to move his little finger *under* the cup? So he uses gravity and needs less pressure for his other fingers.

[Juefawn]

1. Could the visual recognition of the cup have stopped crushing function, if the cup was seen handled before?

[ormaisazio]

Wow