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Soft, Round, High Resolution Tactile Fingertip Sensors for Dexterous Robotic Manipulation
Name
2005.09068.pdf
Description
Accepted version
Size
4.95 MB
Format
Adobe PDF
Checksum (MD5)
e28c443d24c356618554f4dd80c20b8e
Author(s)
Romero, Branden
Veiga, Filipe
Adelson, Edward
Date Issued
May 2020
Journal
Proceedings - IEEE International Conference on Robotics and Automation
Publisher
IEEE
Citation
Romero, Branden, Veiga, Filipe and Adelson, Edward. 2020. "Soft, Round, High Resolution Tactile Fingertip Sensors for Dexterous Robotic Manipulation." Proceedings - IEEE International Conference on Robotics and Automation.
Version
Author's final manuscript
Abstract
© 2020 IEEE. High resolution tactile sensors are often bulky and have shape profiles that make them awkward for use in manipulation. This becomes important when using such sensors as fingertips for dexterous multi-fingered hands, where boxy or planar fingertips limit the available set of smooth manipulation strategies. High resolution optical based sensors such as GelSight have until now been constrained to relatively flat geometries due to constraints on illumination geometry. Here, we show how to construct a rounded fingertip that utilizes a form of light piping for directional illumination. Our sensors can replace the standard rounded fingertips of the Allegro hand. They can capture high resolution maps of the contact surfaces, and can be used to support various dexterous manipulation tasks.
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike
Persistent DSpace Link
DOI of Published Version
10.1109/icra40945.2020.9196909
