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pub_abstracts:estimating-object-hardness-with-gelsight-sensor.html [2017/09/15 11:33] (current)
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 +====== Estimating object hardness with a gelsight touch sensor ======
 +==== Wenzhen Yuan, Mandayam A Srinivasan, Edward H Adelson. ====
 +----
 +
 +===== Abstract =====
 +Hardness sensing is a valuable capability for a robot touch sensor. We describe a novel method of hardness sensing that does not require accurate control of contact conditions. A GelSight sensor is a tactile sensor that provides high resolution tactile images, which enables a robot to infer object properties such as geometry and fine texture, as well as contact force and slip conditions. The sensor is pressed on silicone samples by a human or a robot and we measure the sample hardness only with data from the sensor, without a separate force sensor and without precise knowledge of the contact trajectory. We describe the features that show object hardness. For hemispherical objects, we develop a model to measure the sample hardness, and the estimation error is about 4% in the range of 8 Shore 00 to 45 Shore A. With this technology, a robot is able to more easily infer the hardness of the touched objects, thereby improving its object recognition as well as manipulation strategy.
 +
 +
 +
 +===== Information =====
 +
 +---- dataentry pubitem ----
 +title       : Estimating object hardness with a gelsight touch sensor
 +authors     : Wenzhen Yuan, Mandayam A Srinivasan, Edward H Adelson
 +citation    : Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on. IEEE, 2016.
 +shortcite   : IROS 2016
 +year        : 2016
 +created_dt  : 2016-01-01
 +keyword_tags: adelson, wenzhen
 +www_url     : http://persci.mit.edu/pub_abstracts/estimating-object-hardness-with-gelsight-sensor.html
 +pdf_url     : http://people.csail.mit.edu/yuan_wz/GelSight1/IROS16_1542_FI.pdf
 +pageid      : estimating-object-hardness-with-gelsight-sensor
 +type        : publication
 +----
 
pub_abstracts/estimating-object-hardness-with-gelsight-sensor.html.txt · Last modified: 2017/09/15 11:33 by elmer