Chapter 1: GelTip tactile sensor for dexterous manipulation in clutter
Daniel Fernandes Gomes; Shan Luo smARTLab, Department of Computer Science, University of Liverpool, Liverpool, United Kingdom
Abstract
Tactile sensing is an essential capability for robots that carry out dexterous manipulation tasks. While cameras, Lidars, and other remote sensors can assess a scene globally and instantly, tactile sensors can reduce their measurement uncertainties and gain information about the local physical interactions between the in-contact objects and the robot, which are often not accessible via remote sensing. Tactile sensors can be grouped into two main categories: electronic tactile skins and camera-based optical tactile sensors. The former are slim ...
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