REMODEL. WP5. T5_5_3. ROSAPP for Deformable Objects Grasping and Shape Detection with Tactile Fingers and Industrial Grippers

Abstract

The dataset presented by UNIBO consist in two different tests aimed to evaluate the tactile sensor. The experiment consist in the grasping on a DLO (electrical cable) and the correction of robot position using the information from the tactile sensor. In the ‘linear’ experiment the robot move along z. In the ‘angular’ experiment, the robot move along z and correct the orientation of the gripper. In the data are gathered the result, showing the robot position and grasped cable position first order estimation on the sensor before and after the correction