Touch Detection with Low-cost Visual-based Sensor

Julio Castaño-Amoros, Pablo Gil, Santiago Puente

2021

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.

Paper Citation

in Harvard Style

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 - Volume 1: ROBOVIS, ISBN 978-989-758-537-1, pages 136-142. DOI: 10.5220/0010699800003061

in Bibtex Style

@conference{robovis21,
author={Julio Castaño-Amoros and Pablo Gil and Santiago Puente},
title={Touch Detection with Low-cost Visual-based Sensor},
booktitle={Proceedings of the 2nd International Conference on Robotics, Computer Vision and Intelligent Systems - Volume 1: ROBOVIS,},
year={2021},
pages={136-142},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0010699800003061},
isbn={978-989-758-537-1},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 2nd International Conference on Robotics, Computer Vision and Intelligent Systems - Volume 1: ROBOVIS,
TI - Touch Detection with Low-cost Visual-based Sensor
SN - 978-989-758-537-1
AU - Castaño-Amoros J.
AU - Gil P.
AU - Puente S.
PY - 2021
SP - 136
EP - 142
DO - 10.5220/0010699800003061