Belousov, B. ; Sadybakasov, A. ; Wibranek, B. ; Veiga, F. F. ; Tessmann, O. ; Peters, J. (2019)
Building a Library of Tactile Skills Based on FingerVision.
2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids). Toronto, ON, Canada (15.10.2019-17.10.2019)
doi: 10.1109/Humanoids43949.2019.9035000
Konferenzveröffentlichung, Bibliographie

Kurzbeschreibung (Abstract)

Camera-based tactile sensors are emerging as a promising inexpensive solution for tactile-enhanced manipulation tasks. A recently introduced Finger Vision sensor was shown capable of generating reliable signals for force estimation, object pose estimation, and slip detection. In this paper, we build upon the Finger Vision design, improving already existing control algorithms, and, more importantly, expanding its range of applicability to more challenging tasks by utilizing raw skin deformation data for control. In contrast to previous approaches that rely on the average deformation of the whole sensor surface, we directly employ local deviations of each spherical marker immersed in the silicone body of the sensor for feedback control and as input to learning tasks. We show that with such input, substances of varying texture and viscosity can be distinguished on the basis of tactile sensations evoked while stirring them. As another application, we learn a mapping between skin deformation and force applied to an object. To demonstrate the full range of capabilities of the proposed controllers, we deploy them in a challenging architectural assembly task that involves inserting a load-bearing element underneath a bendable plate at the point of maximum load.

Typ des Eintrags:	Konferenzveröffentlichung
Erschienen:	2019
Autor(en):	Belousov, B. ; Sadybakasov, A. ; Wibranek, B. ; Veiga, F. F. ; Tessmann, O. ; Peters, J.
Art des Eintrags:	Bibliographie
Titel:	Building a Library of Tactile Skills Based on FingerVision
Sprache:	Englisch
Publikationsjahr:	2019
Ort:	Toronto, Canada
Buchtitel:	Proceedings of the IEEE-RAS International Conference on Humanoid Robots (Humanoids)
Kollation:	6 Seiten
Veranstaltungstitel:	2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids)
Veranstaltungsort:	Toronto, ON, Canada
Veranstaltungsdatum:	15.10.2019-17.10.2019
DOI:	10.1109/Humanoids43949.2019.9035000
Zugehörige Links:	TUprints Zweitveröffentlichung
Kurzbeschreibung (Abstract):	Camera-based tactile sensors are emerging as a promising inexpensive solution for tactile-enhanced manipulation tasks. A recently introduced Finger Vision sensor was shown capable of generating reliable signals for force estimation, object pose estimation, and slip detection. In this paper, we build upon the Finger Vision design, improving already existing control algorithms, and, more importantly, expanding its range of applicability to more challenging tasks by utilizing raw skin deformation data for control. In contrast to previous approaches that rely on the average deformation of the whole sensor surface, we directly employ local deviations of each spherical marker immersed in the silicone body of the sensor for feedback control and as input to learning tasks. We show that with such input, substances of varying texture and viscosity can be distinguished on the basis of tactile sensations evoked while stirring them. As another application, we learn a mapping between skin deformation and force applied to an object. To demonstrate the full range of capabilities of the proposed controllers, we deploy them in a challenging architectural assembly task that involves inserting a load-bearing element underneath a bendable plate at the point of maximum load.
Sachgruppe der Dewey Dezimalklassifikatin (DDC):	000 Allgemeines, Informatik, Informationswissenschaft > 004 Informatik
Fachbereich(e)/-gebiet(e):	15 Fachbereich Architektur 15 Fachbereich Architektur > Fachgruppe B: Gestalten und Darstellen 15 Fachbereich Architektur > Fachgruppe B: Gestalten und Darstellen > Digitales Gestalten
Hinterlegungsdatum:	06 Sep 2019 07:13
Letzte Änderung:	03 Jul 2024 02:40
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