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

Akihiko Yamaguchi, Christopher G. Atkeson

研究成果: Conference contribution

84 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルHumanoids 2016 - IEEE-RAS International Conference on Humanoid Robots
出版社IEEE Computer Society
ページ1045-1051
ページ数7
ISBN(電子版)9781509047185
DOI
出版ステータスPublished - 2016 12月 30
外部発表はい
イベント16th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2016 - Cancun, Mexico
継続期間: 2016 11月 152016 11月 17

出版物シリーズ

名前IEEE-RAS International Conference on Humanoid Robots
ISSN(印刷版)2164-0572
ISSN(電子版)2164-0580

Other

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

ASJC Scopus subject areas

  • 人工知能
  • コンピュータ ビジョンおよびパターン認識
  • ハードウェアとアーキテクチャ
  • 人間とコンピュータの相互作用
  • 電子工学および電気工学

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