Generation of Tactile Data from 3D Vision and Target Robotic Grasps
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http://hdl.handle.net/10045/109515
Title: | Generation of Tactile Data from 3D Vision and Target Robotic Grasps |
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Authors: | Zapata-Impata, Brayan S. | Gil, Pablo | Mezouar, Youcef | Torres, Fernando |
Research Group/s: | Automática, Robótica y Visión Artificial |
Center, Department or Service: | Universidad de Alicante. Departamento de Física, Ingeniería de Sistemas y Teoría de la Señal | Universidad de Alicante. Instituto Universitario de Investigación Informática |
Keywords: | Robotic perception | Tactile feedback estimation | Tactitle data generation | Tactile perception | 3D vision |
Knowledge Area: | Ingeniería de Sistemas y Automática |
Date Created: | 15-Sep-2019 |
Issue Date: | 24-Jul-2020 |
Publisher: | IEEE |
Citation: | IEEE Transactions on Haptics. 2021, 14(1): 57-67. https://doi.org/10.1109/TOH.2020.3011899 |
Abstract: | Tactile perception is a rich source of information for robotic grasping: it allows a robot to identify a grasped object and assess the stability of a grasp, among other things. However, the tactile sensor must come into contact with the target object in order to produce readings. As a result, tactile data can only be attained if a real contact is made. We propose to overcome this restriction by employing a method that models the behaviour of a tactile sensor using 3D vision and grasp information as a stimulus. Our system regresses the quantified tactile response that would be experienced if this grasp were performed on the object. We experiment with 16 items and 4 tactile data modalities to show that our proposal learns this task with low error. |
Sponsor: | This work was supported in part by the Spanish Government and the FEDER Funds (BES-2016-078290, PRX19/00289, RTI2018-094279-B-100) and in part by the European Commission (COMMANDIA SOE2/P1/F0638), action supported by Interreg-V Sudoe. |
URI: | http://hdl.handle.net/10045/109515 |
ISSN: | 1939-1412 (Print) | 2329-4051 (Online) |
DOI: | 10.1109/TOH.2020.3011899 |
Language: | eng |
Type: | info:eu-repo/semantics/article |
Rights: | © 2020 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. |
Peer Review: | si |
Publisher version: | https://doi.org/10.1109/TOH.2020.3011899 |
Appears in Collections: | INV - AUROVA - Artículos de Revistas |
Files in This Item:
File | Description | Size | Format | |
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Zapata-Impata_etal_2020_IEEE-Transactions-on-Haptics_accepted.pdf | Accepted Manuscript (acceso abierto) | 6,28 MB | Adobe PDF | Open Preview |
Zapata-Impata_etal_2020_IEEE-Transactions-on-Haptics_final.pdf | Versión final (acceso restringido) | 3,35 MB | Adobe PDF | Open Request a copy |
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