# SEED: Series Elastic End Effectors in 6D for Visuotactile Tool Use

arXiv: https://arxiv.org/abs/2111.01376 · HTML: https://mlsanity.com/paper/2111.01376/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 2 Nov 2021.

## Built on by (most cited first, 3 of 3)

- [3D-ViTac: Learning Fine-Grained Manipulation with Visuo-Tactile Sensing](https://mlsanity.com/paper/2410.24091/) (2024)
- [PoCo: Policy Composition from and for Heterogeneous Robot Learning](https://mlsanity.com/paper/2402.02511/) (2024)
- [RoboPack: Learning Tactile-Informed Dynamics Models for Dense Packing](https://mlsanity.com/paper/2407.01418/) (2024)

## Abstract (arXiv)

We propose the framework of Series Elastic End Effectors in 6D (SEED), which combines a spatially compliant element with visuotactile sensing to grasp and manipulate tools in the wild. Our framework generalizes the benefits of series elasticity to 6-dof, while providing an abstraction of control using visuotactile sensing. We propose an algorithm for relative pose estimation from visuotactile sensing, and a spatial hybrid force-position controller capable of achieving stable force interaction with the environment. We demonstrate the effectiveness of our framework on tools that require regulation of spatial forces. Video link: https://youtu.be/2-YuIfspDrk