既製グリッパに触覚センシングを追加する
Augmenting Off-the-Shelf Grippers with Tactile Sensing
既製の産業用グリッパに取り付け可能なオープンソースの触覚指先センサを開発し、布の端やケーブルの追従タスクで有効性を検証した。
著者: Remko Proesmans, Francis wyffels
分類: cs.RO
原文アブストラクト
The development of tactile sensing and its fusion with computer vision is expected to enhance robotic systems in handling complex tasks like deformable object manipulation. However, readily available industrial grippers typically lack tactile feedback, which has led researchers to develop and integrate their own tactile sensors. This has resulted in a wide range of sensor hardware, making it difficult to compare performance between different systems. We highlight the value of accessible open-source sensors and present a set of fingertips specifically designed for fine object manipulation, with readily interpretable data outputs. The fingertips are validated through two difficult tasks: cloth edge tracing and cable tracing. Videos of these demonstrations, as well as design files and readout code can be found at https://github.com/RemkoPr/icra-2023-workshop-tactile-fingertips.
