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Tactile Sensing For The PR2 - Willow Garage
Monday September 13, 2010
Joe Romano, a PhD student from the Penn Haptics Group, spent the summer at Willow Garage enabling the PR2 to perform fine motor control with its grippers using tactile information, as well as understand a variety of other tactile cues. Joe's approach attempts to recreate the same sensory information that humans use when completing similar tasks. This information has already been used to allow the robot to quickly stop after contact before damaging itself or the environment, naturally pass objects to a person, or detect when an object has been set down on a tabletop.....