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We propose the framework of Series Elastic End Effectors in 6D (SEED), whichcombines a spatially compliant element with visuotactile sensing to grasp andmanipulate tools in the wild. Our framework generalizes the benefits of serieselasticity to 6-dof, while providing an abstraction of control usingvisuotactile sensing. We propose an algorithm for relative pose estimation fromvisuotactile sensing, and a spatial hybrid force-position controller capable ofachieving stable force interaction with the environment. We demonstrate theeffectiveness of our framework on tools that require regulation of spatialforces. Video link: https://youtu.be/2-YuIfspDrk

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