RoboCAP: Robotic Classification and Precision Pouring of Diverse Liquids and Granular Media with Capacitive Sensing
<|reference_start|>RoboCAP: Robotic Classification and Precision Pouring of Diverse Liquids and Granular Media with Capacitive Sensing: Liquids and granular media are pervasive throughout human environments, yet remain particularly challenging for robots to sense and manipulate precisely. In this work, we present a systematic approach at integrating capacitive sensing within robotic end effectors to enable robust sensing and precise manipulation of liquids and granular media. We introduce the parallel-jaw RoboCAP Gripper with embedded capacitive sensing arrays that enable a robot to directly sense the materials and dynamics of liquids inside of diverse containers, including some visually opaque. When coupled with model-based control, we demonstrate that the proposed system enables a robotic manipulator to achieve state-of-the-art precision pouring accuracy for a range of substances with varying dynamics properties. Code, designs, and build details are available on the project website.<|reference_end|>
@article{hu2024robocap:,
    title={RoboCAP: Robotic Classification and Precision Pouring of Diverse Liquids
  and Granular Media with Capacitive Sensing},
    author={Yexin Hu, Alexandra Gillespie, Akhil Padmanabha, Kavya Puthuveetil,
  Wesley Lewis, Karan Khokar, Zackory Erickson},
    journal={arXiv preprint arXiv:2405.07423},
    year={2024},
    archivePrefix={arXiv},
    eprint={2405.07423},
    primaryClass={cs.RO}
}