Advanced Search
DSpace@MIT

Localization and Manipulation of Small Parts Using GelSight Tactile Sensing

Research and Teaching Output of the MIT Community

Show simple item record

dc.contributor.author Li, Rui
dc.contributor.author Platt Jr., Robert
dc.contributor.author Yuan, Wenzhen
dc.contributor.author Pas, Andreas ten
dc.contributor.author Roscup, Nathan
dc.contributor.author Srinivasan, Mandayam A.
dc.contributor.author Adelson, Edward H.
dc.date.accessioned 2014-06-30T17:04:21Z
dc.date.available 2014-06-30T17:04:21Z
dc.date.issued 2014-09
dc.identifier.issn 2153-0858
dc.identifier.uri http://hdl.handle.net/1721.1/88136
dc.description.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. en_US
dc.description.sponsorship National Science Foundation (U.S.) (NSF Grant No. 1017862) en_US
dc.description.sponsorship United States. National Aeronautics and Space Administration (NASA under Grant No. NNX13AQ85G) en_US
dc.description.sponsorship United States. Office of Naval Research (ONR Grant No. N000141410047) en_US
dc.language.iso en_US
dc.publisher Institute of Electrical and Electronics Engineers (IEEE) en_US
dc.relation.isversionof http://dx.doi.org/10.1109/IROS.2014.6943123 en_US
dc.rights Creative Commons Attribution-Noncommercial-Share Alike en_US
dc.rights.uri http://creativecommons.org/licenses/by-nc-sa/4.0/ en_US
dc.source Li en_US
dc.title Localization and Manipulation of Small Parts Using GelSight Tactile Sensing en_US
dc.type Article en_US
dc.identifier.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. en_US
dc.contributor.department Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science en_US
dc.contributor.department Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory en_US
dc.contributor.department Massachusetts Institute of Technology. Department of Mechanical Engineering en_US
dc.contributor.department Massachusetts Institute of Technology. Department of Brain and Cognitive Sciences en_US
dc.contributor.approver Li, Rui en_US
dc.contributor.mitauthor Li, Rui en_US
dc.contributor.mitauthor Yuan, Wenzhen en_US
dc.contributor.mitauthor Srinivasan, Mandayam A. en_US
dc.contributor.mitauthor Adelson, Edward H. en_US
dc.relation.journal Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014 en_US
dc.identifier.mitlicense OPEN_ACCESS_POLICY en_US
dc.eprint.version Author's final manuscript en_US
dc.type.uri http://purl.org/eprint/type/ConferencePaper en_US
eprint.status http://purl.org/eprint/status/NonPeerReviewed en_US
dspace.orderedauthors Li, Rui; Platt Jr., Robert; Yuan, Wenzhen; Pas, Andreas ten; Roscup, Nathan; Srinivasan, Mandayam A.; Adelson, Edward H. en_US
dc.identifier.orcid https://orcid.org/0000-0003-1347-6502
dc.identifier.orcid https://orcid.org/0000-0001-8014-356X
dc.identifier.orcid https://orcid.org/0000-0003-2222-6775


Files in this item

Name Size Format
Downloadable Full Text - PDF

This item appears in the following Collection(s)

Show simple item record

Creative Commons Attribution-Noncommercial-Share Alike Except where otherwise noted, this item's license is described as Creative Commons Attribution-Noncommercial-Share Alike
Open Access