Robot Tactile Sensing: Vision Based Tactile Sensor for Force Perception

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	Robot Tactile Sensing: Vision Based Tactile Sensor for Force Perception
	Cong Y(丛杨)3 ; Peng Y(彭艳)2; Zhang T(张涛)1,3 ; Li XM(李小毛)2
	2018
会议日期	July 19-23, 2018
会议地点	Tianjin, China
页码	1360-1365
英文摘要	Tactile sensing is important for both humans and robots especially about force sensing. Although recently some successful tactile sensors have been designed, robot’s is still underdeveloped, particularly about sensing multi-modal tactile information and reducing its price. There is a great demand for developing tactile sensors. When a robot exploring perform a complicated manipulation task such as grasping some fragile things, sensing of multi-axis force is important. In this paper, focusing on force sensing, we first develop a stereo vision based optical multi-modal sensor. This sensor consists of a soft skin with markers inserting it, and two RGB cameras. When external force applied to the sensor, the soft layer’s deformation would cause movement of markers. A markers tracking algorithm is developed to get the displacement of the markers. A contact force field will be estimated by tracking markers in the soft skin. This sensor could be made with off-the- shelf materials. We make a prototype of this sensor and demonstrate its usefulness in force estimation.
源文献作者	IEEE Robotics & Automation Society
产权排序	1
会议录	Proceedings of 2018 IEEE 8th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems
会议录出版者	IEEE
会议录出版地	New York
语种	英语
ISBN号	978-1-5386-7056-9
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/23857]
专题	沈阳自动化研究所_机器人学研究室
通讯作者	Cong Y(丛杨)
作者单位	1.University of Chinese Academy of Sciences 2.School of Mechatronic Engineering and Automation, Shanghai University 3.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences
推荐引用方式 GB/T 7714	Cong Y,Peng Y,Zhang T,et al. Robot Tactile Sensing: Vision Based Tactile Sensor for Force Perception[C]. 见:. Tianjin, China. July 19-23, 2018.