摘要
Tactile sensing is an essential capability for robots performing manipulation tasks.In this paper,we introduce a framework tobuild a monocular visual-tactile sensor for robotic manipulation tasks.Such a sensor is easy to manufacture with afordableingredients and materials.Based on a marker-based detection method,the sensor can detect the contact positions on a flat orcurved surface.In the case study,we have implemented a visual-tactile sensor design specifically through the frameworkproposed in this paper.The design is low cost and can be processed in a very short time,making it suitable for use as anexploratory study in the laboratory.
基金
suggestions on the preparation of the elastic layer.The work is partly supported by the National Natural Science Foundation of China(Grant No.62003059)
by China Post-doctoral Science Foundation(Grant No.2020M673136)
by Chongqing Postdoctoral Research Project Special Grant(XmT2020123).
