GelStereo 2.0: An Improved GelStereo Sensor With Multimedium Refractive Stereo Calibration

doi:10.1109/TIE.2023.3312418

	GelStereo 2.0: An Improved GelStereo Sensor With Multimedium Refractive Stereo Calibration
	Zhang, Chaofan 1,2; Cui, Shaowei3 ; Wang, Shuo2,3,5 ; Hu, Jingyi 1,4; Cai, Yinghao3 ; Wang, Rui3 ; Wang, Yu3
发表期刊	IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
ISSN	0278-0046
	2023-09-19
页码	11
通讯作者	Cui, Shaowei(shaowei.cui@ia.ac.cn) ; Wang, Shuo(shuo.wang@ia.ac.cn)
摘要	Visuotactile sensors have significant advantages in high-resolution contact shape sensing, which is crucial for robots to locate and manipulate objects. However, high precision and robust 3-D geometry sensing is still a challenging problem. In this article, we propose an improved GelStereo sensor, named GelStereo 2.0, with a more stable and compact structure. A refractive stereo ray tracing modeling method is proposed to eliminate 3-D geometry reconstruction errors caused by multimedium light refraction. In addition, we introduce a novel calibration method named multiple contact depths to obtain refractive parameters, which only needs a few pressings using calibration boards. Extensive experimental results show that the measurement error of contact surface depth is less than 0.15 mm. Furthermore, two well-calibrated sensors mounted on the gripper are successfully applied to a fingertip bolt screwing task, which demonstrates the effectiveness of the GelStereo 2.0 sensor and the proposed tactile 3-D geometry sensing method.
关键词	Index Terms-3-D geometry sensing ray tracing refrac-tive calibration robotic manipulation tactile sensors
DOI	10.1109/TIE.2023.3312418
关键词[WOS]	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[62273342] ; National Natural Science Foundation of China[62122087] ; Beijing Natural Science Foundation[4222055] ; Scientific Research Program of Beijing Municipal Commission of Education-Natural Science Foundation of Beijing[KZ202210017024]
项目资助者	National Key Research and Development Program of China ; National Natural Science Foundation of China ; Beijing Natural Science Foundation ; Scientific Research Program of Beijing Municipal Commission of Education-Natural Science Foundation of Beijing
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:001076271300001
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
引用统计
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/53081
专题	多模态人工智能系统全国重点实验室
通讯作者	Cui, Shaowei; Wang, Shuo
作者单位	1.Chinese Acad Sci, Inst Automat, Beijing 100190, Peoples R China 2.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 3.Chinese Acad Sci, Inst Automat, State Key Lab Multimodal Artificial Intelligence S, Beijing 100190, Peoples R China 4.Univ Chinese Acad Sci, Sch Future Technol, Beijing 100049, Peoples R China 5.Chinese Acad Sci, Ctr Excellence Brain Sci & Intelligence Technol, Shanghai 200031, 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	Zhang, Chaofan,Cui, Shaowei,Wang, Shuo,et al. GelStereo 2.0: An Improved GelStereo Sensor With Multimedium Refractive Stereo Calibration[J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,2023:11.
APA	Zhang, Chaofan.,Cui, Shaowei.,Wang, Shuo.,Hu, Jingyi.,Cai, Yinghao.,...&Wang, Yu.(2023).GelStereo 2.0: An Improved GelStereo Sensor With Multimedium Refractive Stereo Calibration.IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,11.
MLA	Zhang, Chaofan,et al."GelStereo 2.0: An Improved GelStereo Sensor With Multimedium Refractive Stereo Calibration".IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS (2023):11.