Robots typically have vision systems that allow them to see their environment and make decisions based on vision, but with touch and feel, they can perform many other tasks. For example, when you assemble by hand, you're feeling the part go in. A robot can do the same thing if it has a force sensor.
Better sensing is crucial to improving robotic grasping and manipulation. Most robots currently have a very limited perception in their manipulators, typically only fingertip position and velocity. Additional sensors make richer interactions with the objects possible. In this paper, we present a versatile,
robust and low-cost sensor for robot fingertips, that can improve robotic grasping and manipulation in several ways:
3D reconstruction of the shape of objects, material surface classification, and object slip detection. We extended TUMRosie, our robot for mobile manipulation, with fingertip sensors on its humanoid robotic hand, and show the advantages of the fingertip sensor integrated into our robot system.
read link :
https://ai.uni-bremen.de/papers/maldonado12improving.pdf
Better sensing is crucial to improving robotic grasping and manipulation. Most robots currently have a very limited perception in their manipulators, typically only fingertip position and velocity. Additional sensors make richer interactions with the objects possible. In this paper, we present a versatile,
robust and low-cost sensor for robot fingertips, that can improve robotic grasping and manipulation in several ways:
3D reconstruction of the shape of objects, material surface classification, and object slip detection. We extended TUMRosie, our robot for mobile manipulation, with fingertip sensors on its humanoid robotic hand, and show the advantages of the fingertip sensor integrated into our robot system.
read link :
https://ai.uni-bremen.de/papers/maldonado12improving.pdf
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