Extremum Seeking Controlled Wiggling for Tactile Insertion
<|reference_start|>Extremum Seeking Controlled Wiggling for Tactile Insertion: When humans perform insertion tasks such as inserting a cup into a cupboard, routing a cable, or key insertion, they wiggle the object and observe the process through tactile and proprioceptive feedback. While recent advances in tactile sensors have resulted in tactile-based approaches, there has not been a generalized formulation based on wiggling similar to human behavior. Thus, we propose an extremum-seeking control law that can insert four keys into four types of locks without control parameter tuning despite significant variation in lock type. The resulting model-free formulation wiggles the end effector pose to maximize insertion depth while minimizing strain as measured by a GelSight Mini tactile sensor that grasps a key. The algorithm achieves a 71\% success rate over 120 randomly initialized trials with uncertainty in both translation and orientation. Over 240 deterministically initialized trials, where only one translation or rotation parameter is perturbed, 84\% of trials succeeded. Given tactile feedback at 13 Hz, the mean insertion time for these groups of trials are 262 and 147 seconds respectively.<|reference_end|>
@article{burner2024extremum,
    title={Extremum Seeking Controlled Wiggling for Tactile Insertion},
    author={Levi Burner, Pavan Mantripragada, Gabriele M. Caddeo, Lorenzo Natale,
  Cornelia Ferm"uller, Yiannis Aloimonos},
    journal={arXiv preprint arXiv:2410.02595},
    year={2024},
    archivePrefix={arXiv},
    eprint={2410.02595},
    primaryClass={cs.RO}
}