相关论文: GelSight360: An Omnidirectional Camera-Based Tacti…
In conjunction with huge recent progress in camera and computer vision technology, camera-based sensors have increasingly shown considerable promise in relation to tactile sensing. In comparison to competing technologies (be they resistive,…
Tactile sensing is an essential capability for robots that carry out dexterous manipulation tasks. While cameras, Lidars and other remote sensors can assess a scene globally and instantly, tactile sensors can reduce their measurement…
Sensing contacts throughout the fingers is an essential capability for a robot to perform manipulation tasks in cluttered environments. However, existing tactile sensors either only have a flat sensing surface or a compliant tip with a…
High resolution tactile sensors are often bulky and have shape profiles that make them awkward for use in manipulation. This becomes important when using such sensors as fingertips for dexterous multi-fingered hands, where boxy or planar…
Camera-based tactile sensors provide robots with a high-performance tactile sensing approach for environment perception and dexterous manipulation. However, achieving comprehensive environmental perception still requires cooperation with…
Most current works in Sim2Real learning for robotic manipulation tasks leverage camera vision that may be significantly occluded by robot hands during the manipulation. Tactile sensing offers complementary information to vision and can…
This work describes the development of a high-resolution tactile-sensing finger for robot grasping. This finger, inspired by previous GelSight sensing techniques, features an integration that is slimmer, more robust, and with more…
Recently, several morphologies, each with its advantages, have been proposed for the \textit{GelSight} high-resolution tactile sensors. However, existing simulation methods are limited to flat-surface sensors, which prevents their usage…
A GelSight sensor uses an elastomeric slab covered with a reflective membrane to measure tactile signals. It measures the 3D geometry and contact force information with high spacial resolution, and successfully helped many challenging robot…
Incorporating touch as a sensing modality for robots can enable finer and more robust manipulation skills. Existing tactile sensors are either flat, have small sensitive fields or only provide low-resolution signals. In this paper, we…
Camera-based tactile sensors can provide high resolution positional and local geometry information for robotic manipulation. Curved and rounded fingers are often advantageous, but it can be difficult to derive illumination systems that work…
Tactile sensing is an essential perception for robots to complete dexterous tasks. As a promising tactile sensing technique, vision-based tactile sensors have been developed to improve robot performance in manipulation and grasping. Here we…
GelSight family of vision-based tactile sensors has proven to be effective for multiple robot perception and manipulation tasks. These sensors are based on an internal optical system and an embedded camera to capture the deformation of the…
We present GelSphere, a spherical vision-based tactile sensor designed for real-time continuous surface scanning. Unlike traditional vision-based tactile sensors that can only sense locally and are damaged when slid across surfaces, and…
Knowledge of 3-D object shape is of great importance to robot manipulation tasks, but may not be readily available in unstructured environments. While vision is often occluded during robot-object interaction, high-resolution tactile sensors…
Increasing the performance of tactile sensing in robots enables versatile, in-hand manipulation. Vision-based tactile sensors have been widely used as rich tactile feedback has been shown to be correlated with increased performance in…
Tactile sensing has seen a rapid adoption with the advent of vision-based tactile sensors. Vision-based tactile sensors provide high resolution, compact and inexpensive data to perform precise in-hand manipulation and human-robot…
Tactile sensing is a necessary capability for a robotic hand to perform fine manipulations and interact with the environment. Optical sensors are a promising solution for high-resolution contact estimation. Nevertheless, they are usually…
Tactile sensing provides robots with rich feedback during manipulation, enabling a host of perception and controls capabilities. Here, we present a new open-source, vision-based tactile sensor designed to promote reproducibility and…
This work details the design of a novel two finger robot gripper with multiple Gelsight based optical-tactile sensors covering the inner surface of the hand. The multiple Gelsight sensors can gather the surface topology of the object from…