Combining finger vision and optical tactile sensing: Reducing and handling errors while cutting vegetables

Akihiko Yamaguchi, Christopher G. Atkeson

Research output: Chapter in Book/Report/Conference proceedingConference contribution

31 Citations (Scopus)

Abstract

We develop an optical multimodal-sensing skin for fingers of a robotic gripper. This sensor consists of a transparent skin made with a marked soft elastic outer layer on a hard layer, and internal RGB cameras. The cameras can see the external scene through the skin. This sensor provides a contact force field estimated by tracking markers in the skin, and visual information of close or grasped objects. This sensor uses off-the-shelf materials, is easy to manufacture, and is robust against an external force as the force is not applied to the sensing devices (cameras). We install a prototype of this sensor on fingers of a Baxter robot, and demonstrate its usefulness with a cutting vegetable task. The sensor gave us force information to control cutting vegetables and avoiding slippage of the knife. Accompanying video: https://youtu.be/ifOwQdy9gDg.

Original languageEnglish
Title of host publicationHumanoids 2016 - IEEE-RAS International Conference on Humanoid Robots
PublisherIEEE Computer Society
Pages1045-1051
Number of pages7
ISBN (Electronic)9781509047185
DOIs
Publication statusPublished - 2016 Dec 30
Externally publishedYes
Event16th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2016 - Cancun, Mexico
Duration: 2016 Nov 152016 Nov 17

Publication series

NameIEEE-RAS International Conference on Humanoid Robots
ISSN (Print)2164-0572
ISSN (Electronic)2164-0580

Other

Other16th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2016
CountryMexico
CityCancun
Period16/11/1516/11/17

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Hardware and Architecture
  • Human-Computer Interaction
  • Electrical and Electronic Engineering

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    Yamaguchi, A., & Atkeson, C. G. (2016). Combining finger vision and optical tactile sensing: Reducing and handling errors while cutting vegetables. In Humanoids 2016 - IEEE-RAS International Conference on Humanoid Robots (pp. 1045-1051). [7803400] (IEEE-RAS International Conference on Humanoid Robots). IEEE Computer Society. https://doi.org/10.1109/HUMANOIDS.2016.7803400