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simmediumgraspingmetric · varies
Manipulation via Membranes: High-Resolution and Highly Deformable Tactile Sensing and Control
Description
Collocated tactile sensing is a fundamental enabling technology for dexterous manipulation. However, deformable sensors introduce complex dynamics between the robot, grasped object, and environment that must be considered for fine manipulation. Here, we propose a method to learn soft tactile sensor membrane dynamics that accounts for sensor deformations caused by the physical interaction between the grasped object and environment. Our method combines the perceived 3D geometry of the membrane wit