TY - GEN
T1 - Simulation of tactile sensing arrays for physical interaction tasks
AU - Kappassov, Zhanat
AU - Corrales-Ramon, Juan Antonio
AU - Perdereau, Veronique
N1 - Funding Information:
This work was partially supported by the Institute of Smart Systems and Artificial Intelligence (ISSAI), Kazakhstan, grant “Variable Stiffness Tactile Sensor for Robot Manipulation and Object Exploration” 110119FD45119 and project CoMManDIA (SOE2/P1/F0638) cofinanced by Interreg Sudoe Programme (European Regional Development Fund).
Publisher Copyright:
© 2020 IEEE.
PY - 2020/7
Y1 - 2020/7
N2 - Simulated worlds are important enablers and accelerators of new algorithms for autonomous robot applications. A framework for tactile servoing in the simulated world is presented. This framework includes a general model of tactile sensing arrays that can simulate the behavior of a real tactile sensing array thanks to an empirical characterization procedure. After obtaining the precise sensor model, different tactile servoing schemes can be implemented in the framework by controlling contact features, including points and lines extracted from the simulated contact images. Several experiments have been performed in order to guarantee the correspondence between the simulated results generated by the framework and the real ones executed with different sensors and robots.
AB - Simulated worlds are important enablers and accelerators of new algorithms for autonomous robot applications. A framework for tactile servoing in the simulated world is presented. This framework includes a general model of tactile sensing arrays that can simulate the behavior of a real tactile sensing array thanks to an empirical characterization procedure. After obtaining the precise sensor model, different tactile servoing schemes can be implemented in the framework by controlling contact features, including points and lines extracted from the simulated contact images. Several experiments have been performed in order to guarantee the correspondence between the simulated results generated by the framework and the real ones executed with different sensors and robots.
UR - http://www.scopus.com/inward/record.url?scp=85090384048&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85090384048&partnerID=8YFLogxK
U2 - 10.1109/AIM43001.2020.9158822
DO - 10.1109/AIM43001.2020.9158822
M3 - Conference contribution
AN - SCOPUS:85090384048
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 196
EP - 201
BT - 2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2020
Y2 - 6 July 2020 through 9 July 2020
ER -