Simultaneous Contact Location and Object Pose Estimation Using Proprioception and Tactile Feedback

Understand

Joint estimation of grasped object pose and extrinsic contacts is central to robust and dexterous manipulation.

• In this paper, we propose a novel state-estimation algorithm that jointly estimates contact location and object pose in 3D using exclusively proprioception and tactile feedback.
• Our approach leverages two complementary particle filters: one to estimate contact location (CPFGrasp) and another to estimate object poses (SCOPE).
• We implement and evaluate our approach on real-world single-arm and dual-arm robotic systems.