Abstract
This paper presents experimental results developed within the WIRES experiment, whose main objective is the robotized cabling of switchgears. This task is currently executed by human operators; the WIRES Project tackles the development of a suitably designed sensorized end effector for the wire precise manipulation. In particular, the developed gripper with tactile sensors are shown and a procedure for the implementation of the insertion task is presented and discussed. Experimental results are reported both for quality of wire shape reconstruction and success rate of insertion task implementation.
Highlights
Robotic manipulation is a complex task especially when deformable and fragile objects have to be grasped
This paper presents experimental results developed within the WIRES experiment, whose main objective is the robotized cabling of switchgears
This task is currently executed by human operators; the WIRES Project tackles the development of a suitably designed sensorized end effector for the wire precise manipulation
Summary
Robotic manipulation is a complex task especially when deformable and fragile objects have to be grasped. This approach demonstrates how the fusion among tactile and vision data can be a good approaches for manipulation tasks None of these past papers tackle the estimation problem of shape and pose of flexible objects like wires. In previous papers [2,12], the authors presented details of the tactile sensor design and a possible use of tactile data for the reconstruction of the grasped wire shape and the use of the estimated shape for the implementation of an insertion task. A simplified solution for the wire shape estimation is considered in order to allow its integration directly into the on-board microcontroller This solution is a subset of that proposed in [12], but is explicitly formalized to be used with the final end-effector in the current study. Unlike previous papers, the whole system has been tested in a more complex scenario, by grasping, inserting and connecting a sequence of wires in a testing switchgear as shown in the video as supplementary
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