SEED: Series Elastic End Effectors in 6D for Visuotactile Tool Use

TL;DR

SEED introduces a novel 6D series elastic end effector framework that integrates visuotactile sensing and control algorithms for stable tool manipulation in complex environments.

Contribution

The paper presents a new framework combining series elasticity with visuotactile sensing for 6D tool manipulation, including pose estimation and hybrid force-position control.

Findings

Effective tool grasping and manipulation demonstrated in real-world scenarios.

Stable force interaction achieved through proposed control algorithms.

Framework generalizes series elasticity benefits to 6D applications.

Abstract

We propose the framework of Series Elastic End Effectors in 6D (SEED), which combines a spatially compliant element with visuotactile sensing to grasp and manipulate tools in the wild. Our framework generalizes the benefits of series elasticity to 6-dof, while providing an abstraction of control using visuotactile sensing. We propose an algorithm for relative pose estimation from visuotactile sensing, and a spatial hybrid force-position controller capable of achieving stable force interaction with the environment. We demonstrate the effectiveness of our framework on tools that require regulation of spatial forces. Video link: https://youtu.be/2-YuIfspDrk