Intuitive Tasks Planning Using Visuo-Tactile Perception for Human Robot Cooperation

1 Apr 2021  ·  Sunny Katyara, Fanny Ficuciello, Tao Teng, Fei Chen, Bruno Siciliano, Darwin G. Caldwell ·

Designing robotic tasks for co-manipulation necessitates to exploit not only proprioceptive but also exteroceptive information for improved safety and autonomy. Following such instinct, this research proposes to formulate intuitive robotic tasks following human viewpoint by incorporating visuo-tactile perception. The visual data using depth cameras surveils and determines the object dimensions and human intentions while the tactile sensing ensures to maintain the desired contact to avoid slippage. Experiment performed on robot platform with human assistance under industrial settings validates the performance and applicability of proposed intuitive task formulation.

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