GelStereo 2.0: An Improved GelStereo Sensor With Multimedium Refractive Stereo Calibration

doi:10.1109/TIE.2023.3312418

CORC > 自动化研究所 > 中国科学院自动化研究所 > 多模态人工智能系统全国重点实验室

	GelStereo 2.0: An Improved GelStereo Sensor With Multimedium Refractive Stereo Calibration
	Zhang, Chaofan 4,5; Cui, Shaowei 3; Wang, Shuo 1,3,4; Hu, Jingyi 2,5; Cai, Yinghao 3; Wang, Rui 3; Wang, Yu 3
刊名	IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
	2023-09-19
页码	11
关键词	Index Terms-3-D geometry sensing ray tracing refrac-tive calibration robotic manipulation tactile sensors
ISSN号	0278-0046
DOI	10.1109/TIE.2023.3312418
通讯作者	Cui, Shaowei(shaowei.cui@ia.ac.cn) ; Wang, Shuo(shuo.wang@ia.ac.cn)
英文摘要	Visuotactile sensors have significant advantages in high-resolution contact shape sensing, which is crucial for robots to locate and manipulate objects. However, high precision and robust 3-D geometry sensing is still a challenging problem. In this article, we propose an improved GelStereo sensor, named GelStereo 2.0, with a more stable and compact structure. A refractive stereo ray tracing modeling method is proposed to eliminate 3-D geometry reconstruction errors caused by multimedium light refraction. In addition, we introduce a novel calibration method named multiple contact depths to obtain refractive parameters, which only needs a few pressings using calibration boards. Extensive experimental results show that the measurement error of contact surface depth is less than 0.15 mm. Furthermore, two well-calibrated sensors mounted on the gripper are successfully applied to a fingertip bolt screwing task, which demonstrates the effectiveness of the GelStereo 2.0 sensor and the proposed tactile 3-D geometry sensing method.
资助项目	National Key Research and Development Program of China[2018AAA0103003] ; National Natural Science Foundation of China[62273342] ; National Natural Science Foundation of China[62122087] ; Beijing Natural Science Foundation[4222055] ; Scientific Research Program of Beijing Municipal Commission of Education-Natural Science Foundation of Beijing[KZ202210017024]
WOS关键词	PERCEPTION
WOS研究方向	Automation & Control Systems ; Engineering ; Instruments & Instrumentation
语种	英语
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号	WOS:001076271300001
资助机构	National Key Research and Development Program of China ; National Natural Science Foundation of China ; Beijing Natural Science Foundation ; Scientific Research Program of Beijing Municipal Commission of Education-Natural Science Foundation of Beijing
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/53080]
专题	多模态人工智能系统全国重点实验室
通讯作者	Cui, Shaowei; Wang, Shuo
作者单位	1.Chinese Acad Sci, Ctr Excellence Brain Sci & Intelligence Technol, Shanghai 200031, Peoples R China 2.Univ Chinese Acad Sci, Sch Future Technol, Beijing 100049, Peoples R China 3.Chinese Acad Sci, Inst Automat, State Key Lab Multimodal Artificial Intelligence S, Beijing 100190, Peoples R China 4.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 5.Chinese Acad Sci, Inst Automat, Beijing 100190, Peoples R China
推荐引用方式 GB/T 7714	Zhang, Chaofan,Cui, Shaowei,Wang, Shuo,et al. GelStereo 2.0: An Improved GelStereo Sensor With Multimedium Refractive Stereo Calibration[J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,2023:11.
APA	Zhang, Chaofan.,Cui, Shaowei.,Wang, Shuo.,Hu, Jingyi.,Cai, Yinghao.,...&Wang, Yu.(2023).GelStereo 2.0: An Improved GelStereo Sensor With Multimedium Refractive Stereo Calibration.IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,11.
MLA	Zhang, Chaofan,et al."GelStereo 2.0: An Improved GelStereo Sensor With Multimedium Refractive Stereo Calibration".IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS (2023):11.