Gomes, Daniel Fernandes, Lin, Zhonglin and Luo, Shan ORCID: 0000-0003-4760-0372
(2020)
GelTip: A Finger-shaped Optical Tactile Sensor for Robotic Manipulation.
In: 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020-10-24 - 2021-1-24, Las Vegas, USA.
Text
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Abstract
Sensing contacts throughout the fingers is an essential capability for a robot to perform manipulation tasks in cluttered environments. However, existing tactile sensors either only have a flat sensing surface or a compliant tip with a limited sensing area. In this paper, we propose a novel optical tactile sensor, the GelTip, that is shaped as a finger and can sense contacts on any location of its surface. The sensor captures high-resolution and color-invariant tactile image that can be exploited to extract detailed information about the end-effector's interactions against manipulated objects. Our extensive experiments show that the GelTip sensor can effectively localise the contacts on different locations its finger-shaped body, with a small localisation error of approximately 5 mm, on average, and under 1 mm in the best cases. The obtained results show the potential of the GelTip sensor in facilitating dynamic manipulation tasks with its all-round tactile sensing capability. The sensor models and further information about the GelTip sensor can be found at http://danfergo.github.io/geltip.
Item Type: | Conference or Workshop Item (Unspecified) |
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Uncontrolled Keywords: | Bioengineering |
Depositing User: | Symplectic Admin |
Date Deposited: | 12 Aug 2020 11:06 |
Last Modified: | 15 Mar 2024 14:41 |
DOI: | 10.1109/iros45743.2020.9340881 |
Related URLs: | |
URI: | https://livrepository.liverpool.ac.uk/id/eprint/3097278 |