Knowledge Commons of Institute of Automation,CAS
In-Hand Object Localization Using a Novel High-Resolution Visuotactile Sensor | |
Cui, Shaowei1,2; Wang, Rui3; Hu, Jingyi1,2; Wei, Junhang1,2; Wang, Shuo3,4,5; Lou, Zheng6 | |
发表期刊 | IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS |
ISSN | 0278-0046 |
2022-06-01 | |
卷号 | 69期号:6页码:6015-6025 |
摘要 | In-hand object localization and manipulation has always been a challenging task in robotic community. In this article, we address this problem by vision-based tactile sensing with high-spatial resolution. Specifically, we design a novel tactile sensor based on stereo vision, named GelStereo, which can perceive tactile point cloud with high-spatial resolution (<1 mm). A tactile-based in-hand object localization pipeline composed of saliency detection and probabilistic point-set registration algorithms of the perceived contact point cloud is presented. Furthermore, extensive qualitative and quantitative analyses of perceived tactile point cloud and in-hand localization and insertion experiments of small parts are performed on our robot platform. The experimental results verify the accuracy and robustness of the tactile point cloud sensed by the novel GelStereo tactile sensor and the proposed in-hand object localization pipeline. This novel high-resolution visuotactile sensing technology has predictable application potential in the field of dexterous robotic manipulation. |
关键词 | In-hand object localization robotic manipulation tactile sensor |
DOI | 10.1109/TIE.2021.3090697 |
关键词[WOS] | TACTILE ; MANIPULATION ; REGISTRATION ; PERCEPTION |
收录类别 | SCI |
语种 | 英语 |
资助项目 | National Key Research, and Development Program of China[2018AAA0103003] ; National Natural Science Foundation of China[61773378] ; National Natural Science Foundation of China[U1913201] ; Strategic Priority Research Program of Chinese Academy of Science[XDB32050100] ; Youth Innovation Promotion Association CAS - Beijing Advanced Discipline Fund |
项目资助者 | National Key Research, and Development Program of China ; National Natural Science Foundation of China ; Strategic Priority Research Program of Chinese Academy of Science ; Youth Innovation Promotion Association CAS - Beijing Advanced Discipline Fund |
WOS研究方向 | Automation & Control Systems ; Engineering ; Instruments & Instrumentation |
WOS类目 | Automation & Control Systems ; Engineering, Electrical & Electronic ; Instruments & Instrumentation |
WOS记录号 | WOS:000752059600063 |
出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
七大方向——子方向分类 | 智能机器人 |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/47615 |
专题 | 多模态人工智能系统全国重点实验室_智能机器人系统研究 |
通讯作者 | Wang, Shuo |
作者单位 | 1.Univ Chinese Acad Sci, Sch Future Technol, Beijing 100049, Peoples R China 2.Chinese Acad Sci, Inst Automat, Beijing 100190, Peoples R China 3.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 4.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 5.Chinese Acad Sci, Ctr Excellence Brain Sci & Intelligence Technol, Shanghai 200031, Peoples R China 6.Chinese Acad Sci, Inst Semicond, State Key Lab Superlattices & Microstruct, Beijing 100083, Peoples R China |
第一作者单位 | 中国科学院自动化研究所 |
通讯作者单位 | 中国科学院自动化研究所 |
推荐引用方式 GB/T 7714 | Cui, Shaowei,Wang, Rui,Hu, Jingyi,et al. In-Hand Object Localization Using a Novel High-Resolution Visuotactile Sensor[J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,2022,69(6):6015-6025. |
APA | Cui, Shaowei,Wang, Rui,Hu, Jingyi,Wei, Junhang,Wang, Shuo,&Lou, Zheng.(2022).In-Hand Object Localization Using a Novel High-Resolution Visuotactile Sensor.IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,69(6),6015-6025. |
MLA | Cui, Shaowei,et al."In-Hand Object Localization Using a Novel High-Resolution Visuotactile Sensor".IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 69.6(2022):6015-6025. |
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