Contribution: Yoav Golan, et al.

Object Pose Estimation by Contact with Orientation-Sensing Robotic Fingertips

Yoav Golan1, Amir Shapiro1 and Elon Rimon2
1Department of Mechanical Engineering, Ben-Gurion University of the Negev, Be’er-Sheva, Israel
2Faculty of Mechanical Engineering, Technion Institute of Technology, Haifa, Israel

Pose estimation of an object is important for manipulation tasks, however the object may be partially or even fully occluded while the robotic hand is retracting upon it. To estimate the post of an object while grasping, we introduce novel, low cost surface-orientation sensors for robotic fingertips, and an algorithm that reduces the complex pose estimation problem using the information at hand, resulting in a real-time estimation of the object’s pose.