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Soft-bubble: A highly compliant dense geometry tactile sensor for robot manipulation
Name
1904.02252.pdf
Description
Accepted version
Size
1.13 MB
Format
Adobe PDF
Checksum (MD5)
275279bc0aa3a1282120d608ed755a3f
Author(s)
Alspach, Alex
Hashimoto, Kunimatsu
Kuppuswamy, Naveen
Tedrake, Russ
Date Issued
April 2019
Journal
RoboSoft 2019 - 2019 IEEE International Conference on Soft Robotics
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Alspach, Alex, Hashimoto, Kunimatsu, Kuppuswamy, Naveen and Tedrake, Russ. 2019. "Soft-bubble: A highly compliant dense geometry tactile sensor for robot manipulation." RoboSoft 2019 - 2019 IEEE International Conference on Soft Robotics.
Version
Author's final manuscript
Abstract
© 2019 IEEE. Incorporating effective tactile sensing and mechanical compliance is key towards enabling robust and safe operation of robots in unknown, uncertain and cluttered environments. Towards realizing this goal, we present a lightweight, easy-to-build, highly compliant dense geometry sensor and end effector that comprises an inflated latex membrane with a depth sensor behind it. We present the motivations and the hardware design for this Soft-bubble and demonstrate its capabilities through example tasks including tactile-object classification, pose estimation and tracking, and nonprehensile object manipulation. We also present initial experiments to show the importance of high-resolution geometry sensing for tactile tasks and discuss applications in robust manipulation.
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike
Persistent DSpace Link
DOI of Published Version
10.1109/robosoft.2019.8722713
