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

Dexterous manipulation of unknown objects using virtual contact points

The manipulation of unknown objects is a problem of special interest in robotics since it is not always possible to have exact models of the objects with which the robot interacts. This paper presents a simple strategy to manipulate unknown objects using a robotic hand equipped with tactile sensors. The hand configurations that allow the rotation of an unknown object are computed using only tactile and kinematic information, obtained during the manipulation process and reasoning about the desired and real positions of the fingertips during the manipulation. This is done taking into account that the desired positions of the fingertips are not physically reachable since they are located in the interior of the manipulated object and therefore they are virtual positions with associated virtual contact points. The proposed approach was satisfactorily validated using three fingers of an anthropomorphic robotic hand (Allegro Hand), with the original fingertips replaced by tactile sensors (WTS-FT). In the experimental validation, several everyday objects with different shapes were successfully manipulated, rotating them without the need of knowing their shape or any other physical property.Peer ReviewedPostprint (author's final draft

LivDet in Action - Fingerprint Liveness Detection Competition 2019

The International Fingerprint liveness Detection Competition (LivDet) is an open and well-acknowledged meeting point of academies and private companies that deal with the problem of distinguishing images coming from reproductions of fingerprints made of artificial materials and images relative to real fingerprints. In this edition of LivDet we invited the competitors to propose integrated algorithms with matching systems. The goal was to investigate at which extent this integration impact on the whole performance. Twelve algorithms were submitted to the competition, eight of which worked on integrated systems.Comment: Preprint version of a paper accepted at ICB 201

Biometrics in ABC: counter-spoofing research

Automated border control (ABC) is concerned with fast and secure processing for intelligence-led identification. The FastPass project aims to build a harmonised, modular reference system for future European ABC. When biometrics is taken on board as identity, spoofing attacks become a concern. This paper presents current research in algorithm development for counter-spoofing attacks in biometrics. Focussing on three biometric traits, face, fingerprint, and iris, it examines possible types of spoofing attacks, and reviews existing algorithms reported in relevant academic papers in the area of countering measures to biometric spoofing attacks. It indicates that the new developing trend is fusion of multiple biometrics against spoofing attacks