TY - GEN
T1 - Improved GelSight tactile sensor for measuring geometry and slip
AU - Dong, Siyuan
AU - Yuan, Wenzhen
AU - Adelson, Edward H.
N1 - Funding Information:
The work is supported by Toyota Research Institute. We thank Wen Xiong, Dongying Shen, Changchen Chen, Abhijit Biswas for revising the manuscript. We thank Shaoxiong Wang for helping set up robot arm.
Publisher Copyright:
© 2017 IEEE.
PY - 2017/12/13
Y1 - 2017/12/13
N2 - A GelSight sensor uses an elastomeric slab covered with a reflective membrane to measure tactile signals. It measures the 3D geometry and contact force information with high spacial resolution, and successfully helped many challenging robot tasks. A previous sensor [1], based on a semi-specular membrane, produces high resolution but with limited geometry accuracy. In this paper, we describe a new design of GelSight for robot gripper, using a Lambertian membrane and new illumination system, which gives greatly improved geometric accuracy while retaining the compact size. We demonstrate its use in measuring surface normals and reconstructing height maps using photometric stereo. We also use it for the task of slip detection, using a combination of information about relative motions on the membrane surface and the shear distortions. Using a robotic arm and a set of 37 everyday objects with varied properties, we find that the sensor can detect translational and rotational slip in general cases, and can be used to improve the stability of the grasp.
AB - A GelSight sensor uses an elastomeric slab covered with a reflective membrane to measure tactile signals. It measures the 3D geometry and contact force information with high spacial resolution, and successfully helped many challenging robot tasks. A previous sensor [1], based on a semi-specular membrane, produces high resolution but with limited geometry accuracy. In this paper, we describe a new design of GelSight for robot gripper, using a Lambertian membrane and new illumination system, which gives greatly improved geometric accuracy while retaining the compact size. We demonstrate its use in measuring surface normals and reconstructing height maps using photometric stereo. We also use it for the task of slip detection, using a combination of information about relative motions on the membrane surface and the shear distortions. Using a robotic arm and a set of 37 everyday objects with varied properties, we find that the sensor can detect translational and rotational slip in general cases, and can be used to improve the stability of the grasp.
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U2 - 10.1109/IROS.2017.8202149
DO - 10.1109/IROS.2017.8202149
M3 - Conference contribution
AN - SCOPUS:85041952777
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 137
EP - 144
BT - IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017
Y2 - 24 September 2017 through 28 September 2017
ER -