The ability to grasp and manipulate small objects in cluttered environments remains a significant challenge. This paper introduces a novel approach that utilizes a tactile sensor-equipped gripper with eight degrees of freedom to overcome these limitations. We employ DenseTact 2.0 for the gripper, enabling precise control and improved grasp success rates, particularly for small objects ranging from 5mm to 25mm. Our integrated strategy incorporates the robot arm, gripper, and sensor to manipulate and orient small objects for subsequent classification effectively. We contribute a specialized dataset designed for classifying these objects based on tactile sensor output and a new control algorithm for in-hand orientation tasks. Our system demonstrates 88% of successful grasp and successfully classified small objects in cluttered scenarios.

翻译：在杂乱环境中抓取和操作小物体的能力仍然是一个重大挑战。本文提出了一种新颖方法，利用配备具有八个自由度的触觉传感器夹具来克服这些限制。我们采用DenseTact 2.0作为夹具的触觉传感器，实现了精确控制并提高了抓取成功率，尤其适用于5mm至25mm尺寸范围内的小物体。我们的集成策略将机器人臂、夹具和传感器相结合，能够有效地操控和定向小物体以便后续分类。我们贡献了一个专门的数据集，用于基于触觉传感器输出对这些物体进行分类，并提出了一种新的控制算法用于手内定向任务。我们的系统在杂乱场景中实现了88%的成功抓取率，并成功完成了对小物体的分类。