Robotic Setup

Robot setup. (a) An overview of the experimental setup that consists of a UR5 robotic arm, Robotiq 2F-85 gripper, a GelSight sensor and an Intel RealSense D415; (b) The GelSight Sensor; (c) A sketch diagram of the GelSight sensor.

Note:

Our tactile poking method is not limited to the GelSight sensor [1], and also works with other tactile sensors such as the tactile finger [2] and the GelTip sensor [3].

[1] Yuan W, Dong S, Adelson E H. Gelsight: High-resolution robot tactile sensors for estimating geometry and force[J]. Sensors, 2017, 17(12): 2762.

[2] Piacenza P, Behrman K, Schifferer B, et al. A sensorized multicurved robot finger with data-driven touch sensing via overlapping light signals[J]. IEEE/ASME Transactions on Mechatronics, 2020, 25(5): 2416-2427.

[3] Gomes D F, Lin Z, Luo S. GelTip: A finger-shaped optical tactile sensor for robotic manipulation[C]//2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2020: 9903-9909.