Authors:
Julio Castaño-Amoros
;
Pablo Gil
and
Santiago Puente
Affiliation:
AUROVA Lab, Computer Science Research Institute, University of Alicante, Alicante 03690, Spain
Keyword(s):
Tactile Sensing, Robotic Grasping, DIGIT Sensor, Convolutional Neural Networks.
Abstract:
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.