Implementing tactile behaviors using FingerVision

Akihiko Yamaguchi, Christopher G. Atkeson

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

32 Citations (Scopus)

Abstract

We explore manipulation strategies that use vision-based tactile sensing. FingerVision is a vision-based tactile sensor that provides rich tactile sensation as well as proximity sensing. Although many other tactile sensing methods are expensive in terms of cost and/or processing, FingerVision is a simple and inexpensive approach. We use a transparent skin for fingers. Tracking markers placed on the skin provides contact force and torque estimates, and processing images obtained by seeing through the transparent skin provides static (pose, shape) and dynamic (slip, deformation) information. FingerVision can sense nearby objects even when there is no contact since it is vision-based. Also the slip detection is independent from contact force, which is effective even when the force is too small to measure, such as with origami objects. The results of experiments demonstrate that several manipulation strategies with FingerVision are effective. For example the robot can grasp and pick up an origami crane without crushing it. Video: https://youtu.be/L-YbxcyRghQ.

Original languageEnglish
Title of host publication2017 IEEE-RAS 17th International Conference on Humanoid Robotics, Humanoids 2017
PublisherIEEE Computer Society
Pages241-248
Number of pages8
ISBN (Electronic)9781538646786
DOIs
Publication statusPublished - 2017 Dec 22
Event17th IEEE-RAS International Conference on Humanoid Robotics, Humanoids 2017 - Birmingham, United Kingdom
Duration: 2017 Nov 152017 Nov 17

Publication series

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

Other

Other17th IEEE-RAS International Conference on Humanoid Robotics, Humanoids 2017
Country/TerritoryUnited Kingdom
CityBirmingham
Period17/11/1517/11/17

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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