GelSlim: A High-Resolution, Compact, Robust, and Calibrated Tactile-sensing Finger

Donlon, Elliott; Dong, Siyuan; Liu, Melody; Li, Jianhua; Adelson, Edward H.; Rodríguez, Alberto

doi:10.48550/arxiv.1803.00628

Cited by 3 publications

(4 citation statements)

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“…If the hand is expected to be outside the object, then the hand is relocated, aiming at another target 2D position. Equation (12) with the p-th threshold value is used for this judgment. For Update-hand-target( ) at Step 14, x est (t) in ( 10) is used.…”

Section: Exploration Strategy Based On Discrete Statementioning

confidence: 99%

“…As examples of the deterministic approach, a multimodal method that uses tactile, force, and vision information [9] and a method that estimates pose by local contact force based on geometric models [10] have been proposed. Methods with geometric rendering of objects [11] and high-resolution tactile sensors [12] have been proposed as well. However, all of these require expensive and highly accurate sensors (e.g., [13]).…”

Section: Introductionmentioning

confidence: 99%

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Pose Estimation of a Container with Contact Sensing Based on Discrete State Discrimination

Kato,

Kobayashi,

Takamori

et al. 2024

Robotics

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In cases where vision is not sufficiently reliable for robots to recognize an object, tactile sensing can be a promising alternative for estimating the object’s pose. In this paper, we consider the task of a robot estimating the pose of a container aperture in order to select an object. In such a task, if the robot can determine whether its hand with equipped contact sensor is inside or outside the container, estimation of the object’s pose can be improved by reflecting the discrimination to the robotic hand’s exploration strategy. We propose an exploration strategy and an estimation method using discrete state recognition on the basis of a particle filter. The proposed method achieves superior estimation in terms of the number of contact actions, operation time, and stability of estimation efficiency. The pose is estimated with sufficient accuracy that the hand can be inserted into the container.

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Section: Exploration Strategy Based On Discrete Statementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Pose Estimation of a Container with Contact Sensing Based on Discrete State Discrimination

Kato,

Kobayashi,

Takamori

et al. 2024

Robotics

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“…In contrast to most compliant gripper designs, which are based on solid materials [1], the Soft-bubbles use an air-filled deformable structure such as those reported in Kim et al [5]. They are also a high-resolution visuotactile sensor, like GelSight [6], [7], and GelSlim [8], which is advantageous for precision manipulation. The air-inflated latex membrane structure of the Soft-bubble has multiple mechanical benefits.…”

Section: A Compliant Gripper Designmentioning

confidence: 99%

Soft-Bubble grippers for robust and perceptive manipulation

Kuppuswamy¹,

Alspach²,

Uttamchandani³

et al. 2020

Preprint

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Manipulation in cluttered environments like homes requires stable grasps, precise placement and robustness against external contact. We present the Soft-bubble gripper system with a highly compliant gripping surface and dense-geometry visuotactile sensing, capable of multiple kinds of tactile perception. We first present various mechanical design advances and a fabrication technique to deposit custom patterns to the internal surface of the sensor that enable tracking of shearinduced displacement of the manipuland. The depth maps output by the internal imaging sensor are used in an in-hand proximity pose estimation framework -the method better captures distances to corners or edges on the manipuland geometry. We also extend our previous work on tactile classification and integrate the system within a robust manipulation pipeline for cluttered home environments. The capabilities of the proposed system are demonstrated through robust execution multiple real-world manipulation tasks. A video of the system in action can be found here.

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“…Is either geometry or force sensing more important than the other? High-resolution tactile sensors, such as GelSight [14], GelSlim [20] and FingerVision [21], use cameras to gather large amounts of data over relatively small contact areas. GelSight in particular uses precise internal lighting and photometric stereo algorithms to generate height maps of contacting geometry.…”

Section: Related Workmentioning

confidence: 99%

Soft-bubble: A highly compliant dense geometry tactile sensor for robot manipulation

Alspach¹,

Hashimoto²,

Kuppuswarny³

et al. 2019

2019 2nd IEEE International Conference on Soft Robotics (RoboSoft)

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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.

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GelSlim: A High-Resolution, Compact, Robust, and Calibrated Tactile-sensing Finger

Cited by 3 publications

References 0 publications

Pose Estimation of a Container with Contact Sensing Based on Discrete State Discrimination

Pose Estimation of a Container with Contact Sensing Based on Discrete State Discrimination

Soft-Bubble grippers for robust and perceptive manipulation

Soft-bubble: A highly compliant dense geometry tactile sensor for robot manipulation

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