Robot Tactile Sensing: Vision Based Tactile Sensor for Force Perception
文献类型：会议论文
| 作者 | Cong Y(丛杨)3 ; Peng Y(彭艳)2; Zhang T(张涛)1,3; Li XM(李小毛)2
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| 出版日期 | 2018 |
| 会议日期 | July 19-23, 2018 |
| 会议地点 | Tianjin, China |
| 页码 | 1360-1365 |
| 英文摘要 | Tactile sensing is important for both humans and robots especially about force sensing. Although recently some successful tactile sensors have been designed, robot’s is still underdeveloped, particularly about sensing multi-modal tactile information and reducing its price. There is a great demand for developing tactile sensors. When a robot exploring perform a complicated manipulation task such as grasping some fragile things, sensing of multi-axis force is important. In this paper, focusing on force sensing, we first develop a stereo vision based optical multi-modal sensor. This sensor consists of a soft skin with markers inserting it, and two RGB cameras. When external force applied to the sensor, the soft layer’s deformation would cause movement of markers. A markers tracking algorithm is developed to get the displacement of the markers. A contact force field will be estimated by tracking markers in the soft skin. This sensor could be made with off-the- shelf materials. We make a prototype of this sensor and demonstrate its usefulness in force estimation. |
| 源文献作者 | IEEE Robotics & Automation Society |
| 产权排序 | 1 |
| 会议录 | Proceedings of 2018 IEEE 8th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISBN号 | 978-1-5386-7056-9 |
| 源URL | [http://ir.sia.cn/handle/173321/23857]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 通讯作者 | Cong Y(丛杨) |
| 作者单位 | 1.University of Chinese Academy of Sciences 2.School of Mechatronic Engineering and Automation, Shanghai University 3.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences |
| 推荐引用方式 GB/T 7714 | Cong Y,Peng Y,Zhang T,et al. Robot Tactile Sensing: Vision Based Tactile Sensor for Force Perception[C]. 见:. Tianjin, China. July 19-23, 2018. |
入库方式： OAI收割
来源：沈阳自动化研究所
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