Skip to Main content Skip to Navigation
Conference papers

Online Shape Estimation based on Tactile Sensing and Deformation Modeling for Robot Manipulation

Abstract : Precise robot manipulation of deformable objects requires an accurate and fast estimation of their shape as they deform. So far, visual sensing has been mostly used to solve this issue, but vision sensors are sensitive to occlusions, which might be inevitable when manipulating an object with robot. To address this issue, we present a modular pipeline to track the shape of a soft object in an online manner by coupling tactile sensing with a deformation model. Using a model of a tactile sensor, we compute the magnitude and location of a contact force and apply it as an external force to the deformation model. The deformation model then updates the nodal positions of a mesh that describes the shape of the deformable object. The proposed sensor model and pipeline, are evaluated using a Shadow Dexterous Hand equipped with BioTac sensors on its fingertips and an RGB-D sensor.
Document type :
Conference papers
Complete list of metadatas

Cited literature [25 references]  Display  Hide  Download

https://hal.archives-ouvertes.fr/hal-01905794
Contributor : Jose Manuel Sanchez Loza <>
Submitted on : Friday, October 26, 2018 - 10:50:17 AM
Last modification on : Friday, April 12, 2019 - 2:15:00 PM
Long-term archiving on: : Sunday, January 27, 2019 - 12:41:23 PM

File

iros2018_shape_estimation.pdf
Files produced by the author(s)

Identifiers

Citation

Jose Sanchez, Carlos Mateo, Juan Antonio Corrales Ramón, Belhassen-Chedli Bouzgarrou, Youcef Mezouar. Online Shape Estimation based on Tactile Sensing and Deformation Modeling for Robot Manipulation. IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2018, Madrid, Spain. ⟨10.1109/IROS.2018.8594314⟩. ⟨hal-01905794⟩

Share

Metrics

Record views

140

Files downloads

584