Simulation of Tactile Sensing Arrays for Physical Interaction Tasks - Archive ouverte HAL Access content directly
Conference Papers Year :

Simulation of Tactile Sensing Arrays for Physical Interaction Tasks

(1) , (2) , (1)
1
2

Abstract

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.
Fichier principal
Vignette du fichier
AIM20_0263_FI.pdf (1.99 Mo) Télécharger le fichier
Origin : Files produced by the author(s)
Loading...

Dates and versions

hal-02925450 , version 1 (29-08-2020)

Identifiers

Cite

Zhanat Kappassov, Juan Antonio Corrales Ramon, Véronique Perdereau. Simulation of Tactile Sensing Arrays for Physical Interaction Tasks. 2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Jul 2020, Boston, France. pp.196-201, ⟨10.1109/AIM43001.2020.9158822⟩. ⟨hal-02925450⟩
64 View
206 Download

Altmetric

Share

Gmail Facebook Twitter LinkedIn More