Model of tactile sensors using soft contacts and its application in robot grasping simulation
Robotics and Autonomous Systems
Stable grasping under pose uncertainty using tactile feedback
Autonomous Robots
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The response of a tactile sensor system (consisting of the sensors themselves and the material covering them) was characterized via robotic experiments. A point spread function model of this response was developed for typical interaction forces, allowing the use of graphics and imaging techniques respectively for simulating and interpreting tactile sensor readings. This model was implemented in software as a generic artificial tactile sensor simulator, and its accuracy at approximating the output of our test system is demonstrated.