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Measurement of Shear and Slip with a GelSight Tactile Sensor

W. Yuan, R. Li, M.A. Srinivasan, and E.H. Adelson


Abstract

Artificial tactile sensing is still underdeveloped, especially in sensing shear load, incipient slip, and total slip on a contact surface. These are very important for a robot hand to manually explore the environment or perform a manipulation task such as grasping. In this paper, we introduce a new method of detecting the normal, shear and torsional load on the contact surface with a GelSight tactile sensor [1]. In addition, we demonstrate the detection of incipient, partial and total slip. The method consists of inferring the state of the contact interface based on analysis of the sequence of images of GelSights elastomer medium, whose deformation under the external load indicates the conditions of contact. Results with a robot gripper like experimental set up show that the method is effective in detecting interactions with an object during stable grasp as well as at incipient slip. The method is also applicable to other optical based tactile sensors.

Information

title:
Measurement of Shear and Slip with a GelSight Tactile Sensor
author:
W. Yuan,
R. Li,
M.A. Srinivasan,
and E.H. Adelson
citation:
IEEE International Conference on Robotics and Automation (under review)
shortcite:
ICRA
year:
2015
created:
2014-10-29
summary:
rui-icra2015
keyword:
rui
pdf:
http://persci.mit.edu/_media/publications/rui-icra2015.pdf
type:
publication
 
publications/rui-icra2015.1414618505.txt.gz · Last modified: 2014/10/29 17:35 by rui