Model of tactile sensors using soft contacts and its application in robot grasping simulation

  • Authors:

  • Sami Moisio;Beatriz LeóN;Pasi Korkealaakso;Antonio Morales

  • Affiliations:

  • Laboratory of Intelligent Machines at the Centre of Computational Engineering and Integrated Design (CEID), Lappeenranta University of Technology, P.O. Box 20, 53851 Lappeenranta, Finland;Robotic Intelligence Laboratory at the Department of Computer Science and Engineering, Universitat Jaume I, 12006 Castellón, Spain;Laboratory of Intelligent Machines at the Centre of Computational Engineering and Integrated Design (CEID), Lappeenranta University of Technology, P.O. Box 20, 53851 Lappeenranta, Finland;Robotic Intelligence Laboratory at the Department of Computer Science and Engineering, Universitat Jaume I, 12006 Castellón, Spain

  • Venue:
  • Robotics and Autonomous Systems
  • Year:
  • 2013

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Abstract

In the context of robot grasping and manipulation, realistic dynamic simulation requires accurate modeling of contacts between bodies and, in a practical level, accurate simulation of touch sensors. This paper addresses the problem of creating a simulation of a tactile sensor as well as its implementation in a simulation environment. The simulated tactile sensor model utilizes collision detection and response methods using soft contacts as well as a full friction description. The tactile element is created based on a geometry enabling the creation of a variety of different shape tactile sensors. The tactile sensor element can be used to detect touch against triangularized geometries. This independence in shape enables the use of the sensor model for various applications, ranging from regular tactile sensors to more complex geometries as the human hand which makes it possible to explore human-like touch. The developed tactile sensor model is implemented within OpenGRASP and is available in the open-source plugin. The model has been validated through several experiments ranging from physical properties verification to testing on robot grasping applications. This simulated sensor can provide researchers with a valuable tool for robotic grasping research, especially in cases where the real sensors are not accurate enough yet.