GelStereo Palm: A Novel Curved Visuotactile Sensor for 3-D Geometry Sensing
文献类型：期刊论文
| 作者 | Hu, Jingyi1,2; Cui, Shaowei2 ; Wang, Shuo2,3,4; Zhang, Chaofan2,3; Wang, Rui2; Chen, Lipeng5; Li, Yuhao6
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| 刊名 | IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS
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| 出版日期 | 2023-11-01 |
| 卷号 | 19期号:11页码:10853-10863 |
| 关键词 | 3-D reconstruction tactile sensor tactile sensing |
| ISSN号 | 1551-3203 |
| DOI | 10.1109/TII.2023.3241685 |
| 通讯作者 | Wang, Shuo(shuo.wang@ia.ac.cn) |
| 英文摘要 | Recently, visuotactile sensors have shown promising potential in robotics due to their high-resolution sensing ability. Unfortunately, the majority of available visuotactile sensors are limited to flat shapes, which severely limits their application possibilities. In this article, we propose a novel curved visuotactile sensor, the GelStereo Palm, which senses the 3-D contact geometry on a curved surface using a binocular vision system. Meanwhile, to solve the light refraction problem in the binocular stereo vision system under a curved medium, a refractive stereo ray tracing model for GelStereo Palm is presented. Moreover, a 3-D tactile point cloud sensing pipeline is introduced to reconstruct the 3-D contact geometry in real-time. Finally, extensive experiments are conducted to verify the accuracy and robustness of the 3-D contact geometry sensing of our GelStereo Palm sensor. |
| 资助项目 | National Key Research and Development Program of China[2018AAA0103003] ; National Natural Science Foundation of China[62273342] ; National Natural Science Foundation of China[62203435] ; National Natural Science Foundation of China[U1913201] ; CIE-Tencent Robotics X Rhino-Bird Focused Research Program |
| WOS研究方向 | Automation & Control Systems ; Computer Science ; Engineering |
| 语种 | 英语 |
| WOS记录号 | WOS:001181996300022 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| 资助机构 | National Key Research and Development Program of China ; National Natural Science Foundation of China ; CIE-Tencent Robotics X Rhino-Bird Focused Research Program |
| 源URL | [http://ir.ia.ac.cn/handle/173211/57939]  |
| 专题 | 智能机器人系统研究 |
| 通讯作者 | Wang, Shuo |
| 作者单位 | 1.Univ Chinese Acad Sci, Sch Future Technol, Beijing 100049, Peoples R China 2.Chinese Acad Sci, Inst Automat, State Key Lab Multimodal Artificial Intelligence, Beijing 100190, Peoples R China 3.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 4.Chinese Acad Sci, Ctr Excellence Brain Sci & Intelligence Technol, Shanghai 200031, Peoples R China 5.Tencent Robot X Lab, Shenzhen 100190, Peoples R China 6.Beijing Univ Posts & Telecommun, Minist Educ, Key Lab Universal Wireless Commun, Beijing 100876, Peoples R China |
| 推荐引用方式 GB/T 7714 | Hu, Jingyi,Cui, Shaowei,Wang, Shuo,et al. GelStereo Palm: A Novel Curved Visuotactile Sensor for 3-D Geometry Sensing[J]. IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS,2023,19(11):10853-10863. |
| APA | Hu, Jingyi.,Cui, Shaowei.,Wang, Shuo.,Zhang, Chaofan.,Wang, Rui.,...&Li, Yuhao.(2023).GelStereo Palm: A Novel Curved Visuotactile Sensor for 3-D Geometry Sensing.IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS,19(11),10853-10863. |
| MLA | Hu, Jingyi,et al."GelStereo Palm: A Novel Curved Visuotactile Sensor for 3-D Geometry Sensing".IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS 19.11(2023):10853-10863. |
入库方式： OAI收割
来源：自动化研究所
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