Robotics: Science and Systems XIX

MultiSCOPE: Disambiguating In-Hand Object Poses with Proprioception and Tactile Feedback

Andrea Sipos, Nima Fazeli


In this paper, we propose a method for estimating in-hand object poses using proprioception and tactile feedback from a bimanual robotic system. Our method addresses the problem of reducing pose uncertainty through a sequence of frictional contact interactions between the grasped objects. As part of our method, we propose 1) a tool segmentation routine that facilitates contact location and object pose estimation, 2) a loss that allows reasoning over solution consistency between interactions, and 3) a loss to promote converging to object poses and contact locations that explain the external force-torque experienced by each arm. We demonstrate the efficacy of our method in a task-based demonstration both in simulation and on a real-world bimanual platform and show significant improvement in object pose estimation over single interactions.



    AUTHOR    = {Andrea Sipos AND Nima Fazeli}, 
    TITLE     = {{MultiSCOPE: Disambiguating In-Hand Object Poses with Proprioception and Tactile Feedback}}, 
    BOOKTITLE = {Proceedings of Robotics: Science and Systems}, 
    YEAR      = {2023}, 
    ADDRESS   = {Daegu, Republic of Korea}, 
    MONTH     = {July}, 
    DOI       = {10.15607/RSS.2023.XIX.078}