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dc.contributor.authorLi, Rui
dc.contributor.authorPlatt Jr., Robert
dc.contributor.authorYuan, Wenzhen
dc.contributor.authorPas, Andreas ten
dc.contributor.authorRoscup, Nathan
dc.contributor.authorSrinivasan, Mandayam A.
dc.contributor.authorAdelson, Edward H.
dc.date.accessioned2014-06-30T17:04:21Z
dc.date.available2014-06-30T17:04:21Z
dc.date.issued2014-09
dc.identifier.issn2153-0858
dc.identifier.urihttp://hdl.handle.net/1721.1/88136
dc.description.abstractRobust 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.sponsorshipNational Science Foundation (U.S.) (NSF Grant No. 1017862)en_US
dc.description.sponsorshipUnited States. National Aeronautics and Space Administration (NASA under Grant No. NNX13AQ85G)en_US
dc.description.sponsorshipUnited States. Office of Naval Research (ONR Grant No. N000141410047)en_US
dc.language.isoen_US
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)en_US
dc.relation.isversionofhttp://dx.doi.org/10.1109/IROS.2014.6943123en_US
dc.rightsCreative Commons Attribution-Noncommercial-Share Alikeen_US
dc.rights.urihttp://creativecommons.org/licenses/by-nc-sa/4.0/en_US
dc.sourceLien_US
dc.titleLocalization and Manipulation of Small Parts Using GelSight Tactile Sensingen_US
dc.typeArticleen_US
dc.identifier.citationLi, 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.departmentMassachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratoryen_US
dc.contributor.departmentMassachusetts Institute of Technology. Department of Brain and Cognitive Sciencesen_US
dc.contributor.departmentMassachusetts Institute of Technology. Department of Electrical Engineering and Computer Scienceen_US
dc.contributor.departmentMassachusetts Institute of Technology. Department of Mechanical Engineeringen_US
dc.contributor.approverLi, Ruien_US
dc.contributor.mitauthorLi, Ruien_US
dc.contributor.mitauthorYuan, Wenzhenen_US
dc.contributor.mitauthorSrinivasan, Mandayam A.en_US
dc.contributor.mitauthorAdelson, Edward H.en_US
dc.relation.journalProceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014en_US
dc.eprint.versionAuthor's final manuscripten_US
dc.type.urihttp://purl.org/eprint/type/ConferencePaperen_US
eprint.statushttp://purl.org/eprint/status/NonPeerRevieweden_US
dspace.orderedauthorsLi, Rui; Platt Jr., Robert; Yuan, Wenzhen; Pas, Andreas ten; Roscup, Nathan; Srinivasan, Mandayam A.; Adelson, Edward H.en_US
dc.identifier.orcidhttps://orcid.org/0000-0003-1347-6502
dc.identifier.orcidhttps://orcid.org/0000-0001-8014-356X
dc.identifier.orcidhttps://orcid.org/0000-0003-2222-6775
mit.licenseOPEN_ACCESS_POLICYen_US
mit.metadata.statusComplete


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