Robotic Manipulation with a Human in the Loop

Mark Jouppi, Sebastian Schweigert, Jiewen Sun, James Su and Sunil Srinivasan

EECS Department
University of California, Berkeley
Technical Report No. UCB/EECS-2015-78
May 13, 2015

http://www2.eecs.berkeley.edu/Pubs/TechRpts/2015/EECS-2015-78.pdf

While humans can naturally feel forces as they manipulate objects, robots need special instrumentation to provide this capability. Force and torque sensing is crucial to enable robots to perform manipulation tasks such as picking up delicate items, screwing in parts for assembly, and handling deformable objects. In this paper, I present a force sensing data acquisition system that I implemented and used with the Baxter Research Robot. I further detail how I have characterized the accuracy of these sensors and experiments I have conducted with the sensors instrumented on the robot. Finally, I describe software and algorithms to make use of the data in controlling the robot.

Advisor: Ruzena Bajcsy


BibTeX citation:

@mastersthesis{Jouppi:EECS-2015-78,
    Author = {Jouppi, Mark and Schweigert, Sebastian and Sun, Jiewen and Su, James and Srinivasan, Sunil},
    Title = {Robotic Manipulation with a Human in the Loop},
    School = {EECS Department, University of California, Berkeley},
    Year = {2015},
    Month = {May},
    URL = {http://www2.eecs.berkeley.edu/Pubs/TechRpts/2015/EECS-2015-78.html},
    Number = {UCB/EECS-2015-78},
    Abstract = {While humans can naturally feel forces as they manipulate objects, robots need special instrumentation to provide this capability. Force and torque sensing is crucial to enable robots to perform manipulation tasks such as picking up delicate items, screwing in parts for assembly, and handling deformable objects. In this paper, I present a force sensing data acquisition system that I implemented and used with the Baxter Research Robot. I further detail how I have characterized the accuracy of these sensors and experiments I have conducted with the sensors instrumented on the robot. Finally, I describe software and algorithms to make use of the data in controlling the robot.}
}

EndNote citation:

%0 Thesis
%A Jouppi, Mark
%A Schweigert, Sebastian
%A Sun, Jiewen
%A Su, James
%A Srinivasan, Sunil
%T Robotic Manipulation with a Human in the Loop
%I EECS Department, University of California, Berkeley
%D 2015
%8 May 13
%@ UCB/EECS-2015-78
%U http://www2.eecs.berkeley.edu/Pubs/TechRpts/2015/EECS-2015-78.html
%F Jouppi:EECS-2015-78