GelStereo BioTip: Self-Calibrating Bionic Fingertip Visuotactile Sensor for Robotic Manipulation
文献类型：期刊论文
| 作者 | Cui, Shaowei3 ; Wang, Shuo1,2,3; Zhang, Chaofan2,3; Wang, Rui3; Zhang, Boyue2,3; Zhang, Shaolin3; Wang, Yu3
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| 刊名 | IEEE-ASME TRANSACTIONS ON MECHATRONICS
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| 出版日期 | 2023-12-13 |
| 页码 | 12 |
| ISSN号 | 1083-4435 |
| 关键词 | Robot sensing systems Sensors Geometry Cameras Deformation Robots Biosensors Bionic fingertip manipulation ray tracing tactile sensor |
| DOI | 10.1109/TMECH.2023.3336335 |
| 通讯作者 | Wang, Shuo(shuo.wang@ia.ac.cn) |
| 英文摘要 | High-resolution visuotactile sensors are often bulky and have flat contact shapes, making it difficult to integrate into dexterous multifinger fingertips and perform manipulation tasks smoothly. In this article, we present a soft, low-cost, biomimetic fingertip-sized visuotactile sensor, which can perceive high-precision 3-D surface deformation. This novel sensor, named GelStereo BioTip, adopts stereo vision system to robustly acquire 3-D deformation information on multicurvature contact surfaces. In particular, a self-calibrating refractive stereo ray tracing modeling method is proposed to solve the problem of ray refraction on multimedium and multicurvature refractive surfaces in the binocular reconstruction system. GelStereo BioTip has an overall spatial resolution of 1.2 mm, a shape measurement accuracy of less than 0.28 mm over a range of 0-5 mm for numerous distinct contacts with varying contact area. We integrate the bionic fingertips into a dexterous robotic hand for validation, and the proposed bionic fingertip concept can be seamlessly transferred to a variety of robotic manipulators. |
| WOS关键词 | TACTILE ; HAND ; PERCEPTION |
| 资助项目 | National Key Research and Development Program of China |
| WOS研究方向 | Automation & Control Systems ; Engineering |
| 语种 | 英语 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| WOS记录号 | WOS:001166506700001 |
| 资助机构 | National Key Research and Development Program of China |
| 源URL | [http://ir.ia.ac.cn/handle/173211/55652]  |
| 专题 | 多模态人工智能系统全国重点实验室 |
| 通讯作者 | Wang, Shuo |
| 作者单位 | 1.Chinese Acad Sci, Ctr Excellence Brain Sci & Intelligence Technol, Shanghai 200031, Peoples R China 2.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 3.Chinese Acad Sci, Inst Automat, State Key Lab Multimodal Artificial Intelligence S, Beijing 100190, Peoples R China |
| 推荐引用方式 GB/T 7714 | Cui, Shaowei,Wang, Shuo,Zhang, Chaofan,et al. GelStereo BioTip: Self-Calibrating Bionic Fingertip Visuotactile Sensor for Robotic Manipulation[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2023:12. |
| APA | Cui, Shaowei.,Wang, Shuo.,Zhang, Chaofan.,Wang, Rui.,Zhang, Boyue.,...&Wang, Yu.(2023).GelStereo BioTip: Self-Calibrating Bionic Fingertip Visuotactile Sensor for Robotic Manipulation.IEEE-ASME TRANSACTIONS ON MECHATRONICS,12. |
| MLA | Cui, Shaowei,et al."GelStereo BioTip: Self-Calibrating Bionic Fingertip Visuotactile Sensor for Robotic Manipulation".IEEE-ASME TRANSACTIONS ON MECHATRONICS (2023):12. |
入库方式： OAI收割
来源：自动化研究所
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