A versatile robotic hand with 3D perception, force sensing for autonomous manipulation
<|reference_start|>A versatile robotic hand with 3D perception, force sensing for autonomous manipulation: We describe a force-controlled robotic gripper with built-in tactile and 3D perception. We also describe a complete autonomous manipulation pipeline consisting of object detection, segmentation, point cloud processing, force-controlled manipulation, and symbolic (re)-planning. The design emphasizes versatility in terms of applications, manufacturability, use of commercial off-the-shelf parts, and open-source software. We validate the design by characterizing force control (achieving up to 32N, controllable in steps of 0.08N), force measurement, and two manipulation demonstrations: assembly of the Siemens gear assembly problem, and a sensor-based stacking task requiring replanning. These demonstrate robust execution of long sequences of sensor-based manipulation tasks, which makes the resulting platform a solid foundation for researchers in task-and-motion planning, educators, and quick prototyping of household, industrial and warehouse automation tasks.<|reference_end|>
@article{correll2024a,
    title={A versatile robotic hand with 3D perception, force sensing for
  autonomous manipulation},
    author={Nikolaus Correll, Dylan Kriegman, Stephen Otto, James Watson},
    journal={arXiv preprint arXiv:2402.06018},
    year={2024},
    archivePrefix={arXiv},
    eprint={2402.06018},
    primaryClass={cs.RO}
}