A novel tactile sensor based on structured light

In this paper, we have developed a tactile sensor based on the working principle of structured light. It solves the problem that structured light systems are highly susceptible to ambient light and require frequent calibration. And the structural light principle is applied to the robot operation pro...

Full description

Saved in:
Bibliographic Details
Published in:2019 IEEE International Conference on Robotics and Biomimetics (ROBIO) pp. 229 - 234
Main Authors: Yu, Yuanlong, Xue, Hongxiang, Liang, Zhenzhen
Format: Conference Proceeding
Language:English
Published: IEEE 01.12.2019
Subjects:
pattern codification
structure light
tactile sensor
three-dimensional reconstruction
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Abstract In this paper, we have developed a tactile sensor based on the working principle of structured light. It solves the problem that structured light systems are highly susceptible to ambient light and require frequent calibration. And the structural light principle is applied to the robot operation process, that the robot can acquire the three-dimensional structure information of the object during the operation process, without worrying that the robot will block the camera and affect the reconstruction effect during the robot operation. The main components of the tactile sensor are two cameras, a transparent elastomer, and an adhesion layer pattern. In the experiment, we used the sensor to reconstruct a roman column model in three dimensions, in which the adhesion layer pattern is a structured light pattern coded by the spatial coding method. The results show that the tactile sensor developed in this paper can be used for three-dimensional reconstruction of contact objects with good results. The 3D reconstruction accuracy of the sensor designed in this paper is 0.4mm.
AbstractList In this paper, we have developed a tactile sensor based on the working principle of structured light. It solves the problem that structured light systems are highly susceptible to ambient light and require frequent calibration. And the structural light principle is applied to the robot operation process, that the robot can acquire the three-dimensional structure information of the object during the operation process, without worrying that the robot will block the camera and affect the reconstruction effect during the robot operation. The main components of the tactile sensor are two cameras, a transparent elastomer, and an adhesion layer pattern. In the experiment, we used the sensor to reconstruct a roman column model in three dimensions, in which the adhesion layer pattern is a structured light pattern coded by the spatial coding method. The results show that the tactile sensor developed in this paper can be used for three-dimensional reconstruction of contact objects with good results. The 3D reconstruction accuracy of the sensor designed in this paper is 0.4mm.
Author Xue, Hongxiang
Liang, Zhenzhen
Yu, Yuanlong
Author_xml – sequence: 1
  givenname: Yuanlong
  surname: Yu
  fullname: Yu, Yuanlong
  organization: Ecovacs Robotics,AI Institute,Nanjing,China
– sequence: 2
  givenname: Hongxiang
  surname: Xue
  fullname: Xue, Hongxiang
  organization: Ecovacs Robotics,AI Institute,Nanjing,China
– sequence: 3
  givenname: Zhenzhen
  surname: Liang
  fullname: Liang, Zhenzhen
  organization: Ecovacs Robotics,AI Institute,Nanjing,China
BookMark eNotj8FKxDAURSPoQsf5AhfmB1rz0rQvWY6DOgMDBdH1kCYvGqitJBnBv7fgbO7lLO6Be8Mup3kixu5B1ADCPLz2j_temVbJWgowtTYdoO4u2NqgBpQaukZCe83Ehk_zD428WFfiSDzTlOfEB5vJ83niuaSTK6e00Bg_Psstuwp2zLQ-94q9Pz-9bXfVoX_ZbzeHKgLoUhlSpkEgL7uwBARwAYMIUrdBoUPrnUFoqfFICiloCR7EMFjr0C3TZsXu_r2RiI7fKX7Z9Hs8_2j-AEj6Qts
ContentType Conference Proceeding
DBID 6IE
6IL
CBEJK
RIE
RIL
DOI 10.1109/ROBIO49542.2019.8961786
DatabaseName IEEE Electronic Library (IEL) Conference Proceedings
IEEE Xplore POP ALL
IEEE Xplore All Conference Proceedings
IEEE Electronic Library (IEL)
IEEE Proceedings Order Plans (POP All) 1998-Present
DatabaseTitleList
Database_xml – sequence: 1
  dbid: RIE
  name: IEEE Electronic Library (IEL)
  url: https://ieeexplore.ieee.org/
  sourceTypes: Publisher
DeliveryMethod fulltext_linktorsrc
EISBN 9781728163215
1728163218
EndPage 234
ExternalDocumentID 8961786
Genre orig-research
GroupedDBID 6IE
6IL
CBEJK
RIE
RIL
ID FETCH-LOGICAL-i118t-9e49371ed26fed21f1cf7f0f285f47c7adc9715e3d7e47ef821d10bbaac7c4933
IEDL.DBID RIE
IngestDate Thu Jun 29 18:39:07 EDT 2023
IsPeerReviewed false
IsScholarly false
Language English
LinkModel DirectLink
MergedId FETCHMERGED-LOGICAL-i118t-9e49371ed26fed21f1cf7f0f285f47c7adc9715e3d7e47ef821d10bbaac7c4933
PageCount 6
ParticipantIDs ieee_primary_8961786
PublicationCentury 2000
PublicationDate 2019-Dec.
PublicationDateYYYYMMDD 2019-12-01
PublicationDate_xml – month: 12
  year: 2019
  text: 2019-Dec.
PublicationDecade 2010
PublicationTitle 2019 IEEE International Conference on Robotics and Biomimetics (ROBIO)
PublicationTitleAbbrev ROBIO
PublicationYear 2019
Publisher IEEE
Publisher_xml – name: IEEE
Score 1.7065252
Snippet In this paper, we have developed a tactile sensor based on the working principle of structured light. It solves the problem that structured light systems are...
SourceID ieee
SourceType Publisher
StartPage 229
SubjectTerms pattern codification
structure light
tactile sensor
three-dimensional reconstruction
Title A novel tactile sensor based on structured light
URI https://ieeexplore.ieee.org/document/8961786
hasFullText 1
inHoldings 1
isFullTextHit
isPrint
link http://cvtisr.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwlV3PS8MwFH5sw4MnlU38TQ4erWvarEmOKg69bEMUdhtp8gKD0kr34-_fSzsmghcvIQkJ4TWB7yV93_cA7vOcMJuOQqRV5oKodhopYVRkkHzvkckdtZpkE3IyUfO5nnXg4cCFQcQm-AwfQ7X5l-8quwlPZUOlA6Et60JXyqzlau1Dtnishx_T5_cp-fsi8Ks4HYF29K-0KQ1qjE_-t94pDH7od2x2AJYz6GDZh_iJldUWC7YOVIQC2YouoFXNAgw5VpWsVYLd1NQqwo17AF_j18-Xt2if7iBakpe_jjSKIE6HLsk8Fdxz66WPfaJGXkgrjbNa8hGmTqKQ6FXCHY_z3BgrLU1Nz6FXViVeABM2tilhkkBCX2lRJ0ETJ3PSOpfHJrmEfrB28d0qWiz2hl793X0Nx-GDtkEcN9Ajc_AWjux2vVzVd8027AA4d4px
linkProvider IEEE
linkToHtml http://cvtisr.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwlV3PS8MwFH7MKehJZRN_m4NH65I2bdKjimPDuQ2ZsNtIkxcYlFb26-83acdE8OIlJCEhvCbwvaTv-x7AfZY5zHZHIUhlYryodhRIrmSg0PnescqMa1XJJsRwKKfTdNyAhx0XBhGr4DN89NXqX74p9do_lXVk6gltyR7sx5yHtGZrbYO2GE07H6Pn_sh5_NwzrJg7BPX4X4lTKtzoHv9vxRNo_xDwyHgHLafQwKIF9IkU5QZzsvJkhBzJ0l1BywXxQGRIWZBaC3a9cK3c37nb8Nl9nbz0gm3Cg2Du_PxVkCL38nRowsS6glmmrbDUhjK2XGihjE4FizEyArlAK0NmGM0ypbTQbmp0Bs2iLPAcCNdURw6VODr8FRrT0KviJEZoYzKqwgtoeWtnX7WmxWxr6OXf3Xdw2Ju8D2aD_vDtCo78x61DOq6h6UzDGzjQm9V8ubittuQbncONuA
openUrl ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.genre=proceeding&rft.title=2019+IEEE+International+Conference+on+Robotics+and+Biomimetics+%28ROBIO%29&rft.atitle=A+novel+tactile+sensor+based+on+structured+light&rft.au=Yu%2C+Yuanlong&rft.au=Xue%2C+Hongxiang&rft.au=Liang%2C+Zhenzhen&rft.date=2019-12-01&rft.pub=IEEE&rft.spage=229&rft.epage=234&rft_id=info:doi/10.1109%2FROBIO49542.2019.8961786&rft.externalDocID=8961786