Touch Detection with Low-cost Visual-based Sensor
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http://hdl.handle.net/10045/119083
Título: | Touch Detection with Low-cost Visual-based Sensor |
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Autor/es: | Castaño Amorós, Julio | Gil, Pablo | Puente Méndez, Santiago T. |
Grupo/s de investigación o GITE: | Automática, Robótica y Visión Artificial |
Centro, Departamento o Servicio: | Universidad de Alicante. Departamento de Física, Ingeniería de Sistemas y Teoría de la Señal | Universidad de Alicante. Instituto Universitario de Investigación Informática |
Palabras clave: | Tactile Sensing | Robotic Grasping | DiGIT Sensor | Convolutional Neural Networks |
Área/s de conocimiento: | Ingeniería de Sistemas y Automática |
Fecha de publicación: | 27-oct-2021 |
Editor: | SciTePress |
Cita bibliográfica: | Castaño-Amoros, J.; Gil, P. and Puente, S. (2021). Touch Detection with Low-cost Visual-based Sensor. In Proceedings of the 2nd International Conference on Robotics, Computer Vision and Intelligent Systems - ROBOVIS, ISBN 978-989-758-537-1, pages 136-142. DOI: 10.5220/0010699800003061 |
Resumen: | Robotic manipulation continues being an unsolved problem. It involves many complex aspects, for example, perception tactile of different objects and materials, grasping control to plan the robotic hand pose, etc. Most of previous works on this topic used expensive sensors. This fact makes difficult the application in the industry. In this work, we propose a grip detection system using a low-cost visual-based tactile sensor known as DIGIT, mounted on a ROBOTIQ gripper 2F-140. We proved that a Deep Convolutional Network is able to detect contact or no contact. Capturing almost 12000 images with contact and no contact from different objects, we achieve 99% accuracy with never seen samples, in the best scenario. As a result, this system will allow us to implement a grasping controller for the gripper. |
Patrocinador/es: | Research work was completely funded by the European Commission and FEDER through the COMMANDIA project (SOE2/P1/F0638), supported by Interreg-V Sudoe. Computer facilities used were provided by Valencia Government and FEDER through the IDIFEDER/2020/003. |
URI: | http://hdl.handle.net/10045/119083 |
ISBN: | 978-989-758-537-1 |
DOI: | 10.5220/0010699800003061 |
Idioma: | eng |
Tipo: | info:eu-repo/semantics/conferenceObject |
Derechos: | © 2021 by SCITEPRESS – Science and Technology Publications, Lda. Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International license (CC BY-NC-ND 4.0) |
Revisión científica: | si |
Versión del editor: | https://doi.org/10.5220/0010699800003061 |
Aparece en las colecciones: | INV - AUROVA - Comunicaciones a Congresos Internacionales |
Archivos en este ítem:
Archivo | Descripción | Tamaño | Formato | |
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Castano-Amoros_etal_ROBOVIS-2021.pdf | 6,47 MB | Adobe PDF | Abrir Vista previa | |
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