Soft-bubble: A highly compliant dense geometry tactile sensor for robot manipulation
© 2019 IEEE. Incorporating effective tactile sensing and mechanical compliance is key towards enabling robust and safe operation of robots in unknown, uncertain and cluttered environments. Towards realizing this goal, we present a lightweight, easy-to-build, highly compliant dense geometry sensor an...
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| 格式: | 文件 |
| 语言: | English |
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Institute of Electrical and Electronics Engineers (IEEE)
2021
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| 在线阅读: | https://hdl.handle.net/1721.1/137605 |
| _version_ | 1826197699652747264 |
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| author | Alspach, Alex Hashimoto, Kunimatsu Kuppuswamy, Naveen Tedrake, Russ |
| author2 | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory |
| author_facet | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory Alspach, Alex Hashimoto, Kunimatsu Kuppuswamy, Naveen Tedrake, Russ |
| author_sort | Alspach, Alex |
| collection | MIT |
| description | © 2019 IEEE. Incorporating effective tactile sensing and mechanical compliance is key towards enabling robust and safe operation of robots in unknown, uncertain and cluttered environments. Towards realizing this goal, we present a lightweight, easy-to-build, highly compliant dense geometry sensor and end effector that comprises an inflated latex membrane with a depth sensor behind it. We present the motivations and the hardware design for this Soft-bubble and demonstrate its capabilities through example tasks including tactile-object classification, pose estimation and tracking, and nonprehensile object manipulation. We also present initial experiments to show the importance of high-resolution geometry sensing for tactile tasks and discuss applications in robust manipulation. |
| first_indexed | 2024-09-23T10:52:06Z |
| format | Article |
| id | mit-1721.1/137605 |
| institution | Massachusetts Institute of Technology |
| language | English |
| last_indexed | 2024-09-23T10:52:06Z |
| publishDate | 2021 |
| publisher | Institute of Electrical and Electronics Engineers (IEEE) |
| record_format | dspace |
| spelling | mit-1721.1/1376052021-11-06T03:30:21Z Soft-bubble: A highly compliant dense geometry tactile sensor for robot manipulation Alspach, Alex Hashimoto, Kunimatsu Kuppuswamy, Naveen Tedrake, Russ Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory © 2019 IEEE. Incorporating effective tactile sensing and mechanical compliance is key towards enabling robust and safe operation of robots in unknown, uncertain and cluttered environments. Towards realizing this goal, we present a lightweight, easy-to-build, highly compliant dense geometry sensor and end effector that comprises an inflated latex membrane with a depth sensor behind it. We present the motivations and the hardware design for this Soft-bubble and demonstrate its capabilities through example tasks including tactile-object classification, pose estimation and tracking, and nonprehensile object manipulation. We also present initial experiments to show the importance of high-resolution geometry sensing for tactile tasks and discuss applications in robust manipulation. 2021-11-05T19:51:41Z 2021-11-05T19:51:41Z 2019-04 2021-01-27T18:12:21Z Article http://purl.org/eprint/type/ConferencePaper https://hdl.handle.net/1721.1/137605 Alspach, Alex, Hashimoto, Kunimatsu, Kuppuswamy, Naveen and Tedrake, Russ. 2019. "Soft-bubble: A highly compliant dense geometry tactile sensor for robot manipulation." RoboSoft 2019 - 2019 IEEE International Conference on Soft Robotics. en 10.1109/robosoft.2019.8722713 RoboSoft 2019 - 2019 IEEE International Conference on Soft Robotics Creative Commons Attribution-Noncommercial-Share Alike http://creativecommons.org/licenses/by-nc-sa/4.0/ application/pdf Institute of Electrical and Electronics Engineers (IEEE) arXiv |
| spellingShingle | Alspach, Alex Hashimoto, Kunimatsu Kuppuswamy, Naveen Tedrake, Russ Soft-bubble: A highly compliant dense geometry tactile sensor for robot manipulation |
| title | Soft-bubble: A highly compliant dense geometry tactile sensor for robot manipulation |
| title_full | Soft-bubble: A highly compliant dense geometry tactile sensor for robot manipulation |
| title_fullStr | Soft-bubble: A highly compliant dense geometry tactile sensor for robot manipulation |
| title_full_unstemmed | Soft-bubble: A highly compliant dense geometry tactile sensor for robot manipulation |
| title_short | Soft-bubble: A highly compliant dense geometry tactile sensor for robot manipulation |
| title_sort | soft bubble a highly compliant dense geometry tactile sensor for robot manipulation |
| url | https://hdl.handle.net/1721.1/137605 |
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