2,775 research outputs found
Improved GelSight Tactile Sensor for Measuring Geometry and Slip
A GelSight sensor uses an elastomeric slab covered with a reflective membrane
to measure tactile signals. It measures the 3D geometry and contact force
information with high spacial resolution, and successfully helped many
challenging robot tasks. A previous sensor, based on a semi-specular membrane,
produces high resolution but with limited geometry accuracy. In this paper, we
describe a new design of GelSight for robot gripper, using a Lambertian
membrane and new illumination system, which gives greatly improved geometric
accuracy while retaining the compact size. We demonstrate its use in measuring
surface normals and reconstructing height maps using photometric stereo. We
also use it for the task of slip detection, using a combination of information
about relative motions on the membrane surface and the shear distortions. Using
a robotic arm and a set of 37 everyday objects with varied properties, we find
that the sensor can detect translational and rotational slip in general cases,
and can be used to improve the stability of the grasp.Comment: IEEE/RSJ International Conference on Intelligent Robots and System
Incipient Slip-Based Rotation Measurement via Visuotactile Sensing During In-Hand Object Pivoting
In typical in-hand manipulation tasks represented by object pivoting, the
real-time perception of rotational slippage has been proven beneficial for
improving the dexterity and stability of robotic hands. An effective strategy
is to obtain the contact properties for measuring rotation angle through
visuotactile sensing. However, existing methods for rotation estimation did not
consider the impact of the incipient slip during the pivoting process, which
introduces measurement errors and makes it hard to determine the boundary
between stable contact and macro slip. This paper describes a generalized 2-d
contact model under pivoting, and proposes a rotation measurement method based
on the line-features in the stick region. The proposed method was applied to
the Tac3D vision-based tactile sensors using continuous marker patterns.
Experiments show that the rotation measurement system could achieve an average
static measurement error of 0.17 degree and an average dynamic measurement
error of 1.34 degree. Besides, the proposed method requires no training data
and can achieve real-time sensing during the in-hand object pivoting.Comment: 7 pages, 9 figures, submitted to ICRA 202
Exploration of methods for in-hand slip detection with an event-based camera during pick-and-place motions
Pick-and-place motions executed by robotic arms are widely used in the industry and they need to be performed effectively and without errors, such as slips and grasp failures. Concretely, rotational slip may occur when the object is grasped away from its center of mass and may cause issues when placing it due to its change of orientation. In this thesis, this problem is tackled using an event-based camera, which is designed to trigger an input event only the change in illumination at a specific image location crosses a predefined threshold. This enables us to exclude redundant information from static parts of the scene and build systems with low latency, high dynamic range, high temporal resolution and low power consumption. The topic of slip detection in manipulation tasks using event-based cameras is novel. Only a handful of papers in the literature tackle this problem and most of them do not perform as large motions as this thesis considers, typical of pick-and-place scenarios. The main contributions of this work are the design of the data acquisition system and some exploration on data processing methods to infer properties of the scene (motion, slip, etc.) from the data acquired by the platform. In terms of the experiment setup, the event-based camera (DAVIS 346) is mounted to the robotic arm (Panda) with the designed reconfigurable camera mount, offering an external view of the contact between the object and the two-finger parallel gripper used as end-effector. With this setup some small sets of data were recorded, containing slip and non-slip cases during pick-and-place motions with different objects and backgrounds. Since this is an exploratory topic and data is therefore scarce, the approach to data processing consists of feature engineering. To this end, events are processed to investigate the usefulness of alternative representations, such as event histograms and optical flow, to detect slip. Concretely, the ratio between the events coming from the object and the whole image and the vertical absolute mean velocity of the object are considered as one-dimensional signals, which can be thresholded to determine whether a slip is happening or not. In order to discriminate the events related to the object from the background, several solutions are proposed and compared. The results show that indeed, both signals are informative for slip detection, present- ing some limitations to generalize for different objects and backgrounds. In the end, some possible solutions to the detailed limitations are propose
Exploration of methods for in-hand slip detection with an event-based camera during pick-and-place motions
Pick-and-place motions executed by robotic arms are widely used in the industry and they need to be performed effectively and without errors, such as slips and grasp failures. Concretely, rotational slip may occur when the object is grasped away from its center of mass and may cause issues when placing it due to its change of orientation. In this thesis, this problem is tackled using an event-based camera, which is designed to trigger an input event only the change in illumination at a specific image location crosses a predefined threshold. This enables us to exclude redundant information from static parts of the scene and build systems with low latency, high dynamic range, high temporal resolution and low power consumption. The topic of slip detection in manipulation tasks using event-based cameras is novel. Only a handful of papers in the literature tackle this problem and most of them do not perform as large motions as this thesis considers, typical of pick-and-place scenarios. The main contributions of this work are the design of the data acquisition system and some exploration on data processing methods to infer properties of the scene (motion, slip, etc.) from the data acquired by the platform. In terms of the experiment setup, the event-based camera (DAVIS 346) is mounted to the robotic arm (Panda) with the designed reconfigurable camera mount, offering an external view of the contact between the object and the two-finger parallel gripper used as end-effector. With this setup some small sets of data were recorded, containing slip and non-slip cases during pick-and-place motions with different objects and backgrounds. Since this is an exploratory topic and data is therefore scarce, the approach to data processing consists of feature engineering. To this end, events are processed to investigate the usefulness of alternative representations, such as event histograms and optical flow, to detect slip. Concretely, the ratio between the events coming from the object and the whole image and the vertical absolute mean velocity of the object are considered as one-dimensional signals, which can be thresholded to determine whether a slip is happening or not. In order to discriminate the events related to the object from the background, several solutions are proposed and compared. The results show that indeed, both signals are informative for slip detection, present- ing some limitations to generalize for different objects and backgrounds. In the end, some possible solutions to the detailed limitations are proposed.Objectius de Desenvolupament Sostenible::7 - Energia Assequible i No Contaminant::7.1 - Per a 2030, garantir l’accés universal a serveis d’energia assequibles, confiables i modern
A dynamic tactile sensor on photoelastic effect
Certain photoelastic materials exhibit birefringent characteristics at a very low level of strain. This property of material may be suitable for dynamic or wave propagation studies, which can be exploited for designing tactile sensors. This paper presents the design, construction and testing of a novel dynamic sensor based on photoelastic effect, which is capable of detecting object slip as well as providing normal force information. The paper investigates the mechanics of object slip, and develops an approximate model of the sensor. This allows visualization of various parameters involved in the sensor design. The model also explains design improvements necessary to obtain continuous signal during object slip. The developed sensor has been compared with other existing sensors and experimental results from the sensor have been discussed. The sensor is calibrated for normal force which is in addition to the dynamic signal that it provides from the same contact location. The sensor has a simple design and is of a small size allowing it to be incorporated into robotic fingers, and it provides output signals which are largely unaffected by external disturbances
Robust Learning-Based Incipient Slip Detection using the PapillArray Optical Tactile Sensor for Improved Robotic Gripping
The ability to detect slip, particularly incipient slip, enables robotic
systems to take corrective measures to prevent a grasped object from being
dropped. Therefore, slip detection can enhance the overall security of robotic
gripping. However, accurately detecting incipient slip remains a significant
challenge. In this paper, we propose a novel learning-based approach to detect
incipient slip using the PapillArray (Contactile, Australia) tactile sensor.
The resulting model is highly effective in identifying patterns associated with
incipient slip, achieving a detection success rate of 95.6% when tested with an
offline dataset. Furthermore, we introduce several data augmentation methods to
enhance the robustness of our model. When transferring the trained model to a
robotic gripping environment distinct from where the training data was
collected, our model maintained robust performance, with a success rate of
96.8%, providing timely feedback for stabilizing several practical gripping
tasks. Our project website:
https://sites.google.com/view/incipient-slip-detection
Force/torque and tactile sensors for sensor-based manipulator control
The autonomy of manipulators, in space and in industrial environments, can be dramatically enhanced by the use of force/torque and tactile sensors. The development and future use of a six-component force/torque sensor for the Hermes Robot Arm (HERA) Basic End-Effector (BEE) is discussed. Then a multifunctional gripper system based on tactile sensors is described. The basic transducing element of the sensor is a sheet of pressure-sensitive polymer. Tactile image processing algorithms for slip detection, object position estimation, and object recognition are described
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