Camera-based tactile sensors provide a convenient and low-cost approach for robot tactile perception. However, existing sensors are customized and only suit limited robots, which retards tactile applications. In this work, we proposed a modular design for camera-based tactile sensor to facilitate their integration on various robot grippers and fingers. Specifically, we disassemble tactile sensors into sense module for sensing surface interaction, receptor module for arranging camera, illumination, and structure elements, and adapter module for connection with robot gripper. Experiments show the proposed sensors can adopt various robot grippers and achieve high tactile perception performance.
MC-Tac: Modular Camera-Based Tactile Sensor for Robot Gripper
Lect.Notes Computer
International Conference on Intelligent Robotics and Applications ; 2023 ; Hangzhou, China July 05, 2023 - July 07, 2023
16.10.2023
11 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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