Localization and Manipulation of Small Parts Using GelSight Tactile Sensing
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GelSight_IROS 2014_final.pdf
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2.86 MB
Format
Adobe PDF
Checksum (MD5)
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Author(s)
Li, Rui
Platt Jr., Robert
Yuan, Wenzhen
Pas, Andreas ten
Roscup, Nathan
Srinivasan, Mandayam A.
Adelson, Edward H.
Date Issued
September 2014
Journal
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Li, Rui, Robert Platt Jr., Wenzhen Yuan, Andreas ten Pas, Nathan Roscup, Mandayam A. Srinivasan, Edward Adelson. "Localization and Manipulation of Small Parts Using GelSight Tactile Sensing." IEEE/RSJ International Conference on Intelligent Robots and Systems, Chicago, Illinois, Sept. 14–18, 2014. pp.3988-3993.
Version
Author's final manuscript
Abstract
Robust manipulation and insertion of small parts can be challenging because of the small tolerances typically involved. The key to robust control of these kinds of manipulation interactions is accurate tracking and control of the parts involved. Typically, this is accomplished using visual servoing or force-based control. However, these approaches have drawbacks. Instead, we propose a new approach that uses tactile sensing to accurately localize the pose of a part grasped in the robot hand. Using a feature-based matching technique in conjunction with a newly developed tactile sensing technology known as GelSight that has much higher resolution than competing methods, we synthesize high-resolution height maps of object surfaces. As a result of these high-resolution tactile maps, we are able to localize small parts held in a robot hand very accurately. We quantify localization accuracy in benchtop experiments and experimentally demonstrate the practicality of the approach in the context of a small parts insertion problem.
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Massachusetts Institute of Technology. Department of Brain and Cognitive Sciences
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
Massachusetts Institute of Technology. Department of Mechanical Engineering
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Creative Commons Attribution-Noncommercial-Share Alike
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/IROS.2014.6943123
