ROBOTIS HAND #2: HX5-D20 Grasping with Tactile Sensor Feedback – Smarter Touch, Better Grasp
This video explores tactile feedback grasping with the ROBOTIS Hand HX5-D20, showing how 3×3 tactile sensor data can be used for contact detection, stable grip force regulation, tactile visualization, and optimization-based grasping across objects with various shapes.
Key Highlights:
Tactile Visualization: RViz force markers visualize tactile force direction on each fingertip, while Matplotlib 3×3 heatmaps show pressure intensity across the tactile sensor array during grasping.
Force-Based Grasping: Total tactile force from each finger is used to detect contact, close the hand, and maintain a stable grip force.
Optimization-Based Grasping: Center of Pressure (CoP) from the 3×3 tactile array is used to estimate contact bias and adjust the fingertip position through IK-based correction, enabling optimized grasping for objects with various shapes.
This showcase presents how tactile sensing can improve stable, adaptive, and precise grasping with the ROBOTIS Hand HX5-D20.
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