Belousov, Boris ; Sadybakasov, Alymbek ; Wibranek, Bastian ; Veiga, Filipe ; Tessmann, Oliver (2022)
Building a Library of Tactile Skills Based on FingerVision.
19th International Conference on Humanoid Robots (Humanoids). Toronto, ON, Canada (15.10.2019-17.10.2019)
doi: 10.26083/tuprints-00020548
Konferenzveröffentlichung, Zweitveröffentlichung, Postprint
 | Es ist eine neuere Version dieses Eintrags verfügbar. |
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: | 2022 |
| Autor(en): | Belousov, Boris ; Sadybakasov, Alymbek ; Wibranek, Bastian ; Veiga, Filipe ; Tessmann, Oliver |
| Art des Eintrags: | Zweitveröffentlichung |
| Titel: | Building a Library of Tactile Skills Based on FingerVision |
| Sprache: | Englisch |
| Publikationsjahr: | 2022 |
| Ort: | Darmstadt |
| Publikationsdatum der Erstveröffentlichung: | 2022 |
| Verlag: | IEEE |
| Buchtitel: | 2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids) |
| Kollation: | 6 Seiten |
| Veranstaltungstitel: | 19th International Conference on Humanoid Robots (Humanoids) |
| Veranstaltungsort: | Toronto, ON, Canada |
| Veranstaltungsdatum: | 15.10.2019-17.10.2019 |
| DOI: | 10.26083/tuprints-00020548 |
| URL / URN: | https://tuprints.ulb.tu-darmstadt.de/20548 |
| Zugehörige Links: | |
| Herkunft: | Zweitveröffentlichungsservice |
| 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. |
| Status: | Postprint |
| URN: | urn:nbn:de:tuda-tuprints-205484 |
| 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 20 Fachbereich Informatik 20 Fachbereich Informatik > Intelligente Autonome Systeme |
| TU-Projekte: | EC/H2020|640554|SKILLS4ROBOTS |
| Hinterlegungsdatum: | 18 Nov 2022 14:07 |
| Letzte Änderung: | 21 Nov 2022 06:34 |
| PPN: | |
| Export: | |
| Suche nach Titel in: | TUfind oder in Google |
Verfügbare Versionen dieses Eintrags
- Building a Library of Tactile Skills Based on FingerVision. (deposited 18 Nov 2022 14:07) [Gegenwärtig angezeigt]
 |
Frage zum Eintrag |
Optionen (nur für Redakteure)
 |
Redaktionelle Details anzeigen |
Drucken
Impressum