CASIA OpenIR  > 智能机器人系统研究
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
Source PublicationIEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
ISSN0278-0046
2022-06-01
Volume69Issue:6Pages:6015-6025
Abstract

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.

KeywordIn-hand object localization robotic manipulation tactile sensor
DOI10.1109/TIE.2021.3090697
WOS KeywordTACTILE ; MANIPULATION ; REGISTRATION ; PERCEPTION
Indexed BySCI
Language英语
Funding ProjectNational 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
Funding OrganizationNational 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 Research AreaAutomation & Control Systems ; Engineering ; Instruments & Instrumentation
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic ; Instruments & Instrumentation
WOS IDWOS:000752059600063
PublisherIEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Sub direction classification智能机器人
Citation statistics
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/47615
Collection智能机器人系统研究
Corresponding AuthorWang, Shuo
Affiliation1.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
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Corresponding Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
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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