Deformable Objects Grasping and Shape Detection with Tactile Fingers and Industrial Grippers

Pablo Malvido Fresnillo; Saigopal Vasudevan; Wael M. Mohammed; Jose L. Martinez Lastra; Gianluca Laudante; Salvatore Pirozzi; Kevin Galassi; Gianluca Palli

doi:10.1109/ICPS49255.2021.9468151

Deformable Objects Grasping and Shape Detection with Tactile Fingers and Industrial Grippers

Pablo Malvido Fresnillo, Saigopal Vasudevan, Wael M. Mohammed, Jose L. Martinez Lastra, Gianluca Laudante, Salvatore Pirozzi, Kevin Galassi, Gianluca Palli

Automation Technology and Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Scientific › peer-review

4 Citations (Scopus)

44 Downloads (Pure)

Abstract

In this paper, a cyber-physical system composed by a tactile sensor, a robotic gripper and suitable ROS software nodes is proposed. The tactile sensors are shown to be compatible with three different commercial grippers, and the developed ROS nodes for the data acquisition and elaboration enable the implementation of complex tasks such as the grasping and the shape reconstruction of deformable linear objects like cables. The effectiveness of the systems is tested with cable of different diameters and with wiring harnesses composed by several cables grouped together, focusing on the reconstruction of linear and quadratic curves representing the cable shape. Experimental trials are also executed to show the possibility of exploiting the shape reconstruction provided by the proposed system to correct the gripper grasping pose.

Original language	English
Title of host publication	2021 4th IEEE International Conference on Industrial Cyber-Physical Systems (ICPS)
Publisher	IEEE
Pages	525-530
Number of pages	6
ISBN (Electronic)	978-1-7281-6207-2
ISBN (Print)	978-1-6654-3045-6
DOIs	https://doi.org/10.1109/ICPS49255.2021.9468151
Publication status	Published - 2021
Publication type	A4 Article in conference proceedings
Event	IEEE International Conference on Industrial Cyber-Physical Systems - Victoria, Canada Duration: 10 May 2021 → 12 May 2021

Conference

Conference	IEEE International Conference on Industrial Cyber-Physical Systems
Country/Territory	Canada
City	Victoria
Period	10/05/21 → 12/05/21

Keywords

Cyber-physical systems
Cyber-Physical Systems
Deformable Object Manipulation
Fingers
Focusing
Grasping
ROS Applications
Shape
Tactile sensors
Tactile Sensors
Tactile-Based Grasping
Wiring

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Publication forum level 1

Access to Document

10.1109/ICPS49255.2021.9468151

2021-ICPS-REMODEL
This publication is copyrighted. You may download, display and print it for Your own personal use. Commercial use is prohibited.
Accepted author manuscript, 394 KB

http://urn.fi/URN:NBN:fi:tuni-202107096265

REMODEL. WP5. Cable Manipulation Planning, Execution and Interactive Perception. T5_2. Cable grasping. Evaluation of tactile sensors performance for cables grasping. v0
Malvido Fresnillo, P. (Creator), Vasudevan, S. (Contributor), Mohammed, W. (Contributor), Martinez Lastra, J. (Contributor), Palli, G. (Contributor), Galassi, K. (Contributor), Pirozzi, S. (Contributor) & Laudante, G. (Contributor), CSC, 20 Oct 2022
DOI: 10.23729/e1bb6d63-5f35-4a28-9358-90a4f3ca3bdb
Dataset

Cite this

Fresnillo, P. M., Vasudevan, S., Mohammed, W. M., Martinez Lastra, J. L., Laudante, G., Pirozzi, S., Galassi, K., & Palli, G. (2021). Deformable Objects Grasping and Shape Detection with Tactile Fingers and Industrial Grippers. In 2021 4th IEEE International Conference on Industrial Cyber-Physical Systems (ICPS) (pp. 525-530). IEEE. https://doi.org/10.1109/ICPS49255.2021.9468151

@inproceedings{b91386b746ef41179764d594d4a85891,

title = "Deformable Objects Grasping and Shape Detection with Tactile Fingers and Industrial Grippers",

abstract = "In this paper, a cyber-physical system composed by a tactile sensor, a robotic gripper and suitable ROS software nodes is proposed. The tactile sensors are shown to be compatible with three different commercial grippers, and the developed ROS nodes for the data acquisition and elaboration enable the implementation of complex tasks such as the grasping and the shape reconstruction of deformable linear objects like cables. The effectiveness of the systems is tested with cable of different diameters and with wiring harnesses composed by several cables grouped together, focusing on the reconstruction of linear and quadratic curves representing the cable shape. Experimental trials are also executed to show the possibility of exploiting the shape reconstruction provided by the proposed system to correct the gripper grasping pose.",

keywords = "Cyber-physical systems, Cyber-Physical Systems, Deformable Object Manipulation, Fingers, Focusing, Grasping, ROS Applications, Shape, Tactile sensors, Tactile Sensors, Tactile-Based Grasping, Wiring",

author = "Fresnillo, {Pablo Malvido} and Saigopal Vasudevan and Mohammed, {Wael M.} and {Martinez Lastra}, {Jose L.} and Gianluca Laudante and Salvatore Pirozzi and Kevin Galassi and Gianluca Palli",

year = "2021",

doi = "10.1109/ICPS49255.2021.9468151",

language = "English",

isbn = "978-1-6654-3045-6",

pages = "525--530",

booktitle = "2021 4th IEEE International Conference on Industrial Cyber-Physical Systems (ICPS)",

publisher = "IEEE",

note = "IEEE International Conference on Industrial Cyber-Physical Systems ; Conference date: 10-05-2021 Through 12-05-2021",

}

Fresnillo, PM , Vasudevan, S , Mohammed, WM , Martinez Lastra, JL, Laudante, G, Pirozzi, S, Galassi, K & Palli, G 2021, Deformable Objects Grasping and Shape Detection with Tactile Fingers and Industrial Grippers. in 2021 4th IEEE International Conference on Industrial Cyber-Physical Systems (ICPS). IEEE, pp. 525-530, IEEE International Conference on Industrial Cyber-Physical Systems, Victoria, British Columbia, Canada, 10/05/21. https://doi.org/10.1109/ICPS49255.2021.9468151

Deformable Objects Grasping and Shape Detection with Tactile Fingers and Industrial Grippers. / Fresnillo, Pablo Malvido ; Vasudevan, Saigopal ; Mohammed, Wael M. et al.
2021 4th IEEE International Conference on Industrial Cyber-Physical Systems (ICPS). IEEE, 2021. p. 525-530.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Scientific › peer-review

TY - GEN

T1 - Deformable Objects Grasping and Shape Detection with Tactile Fingers and Industrial Grippers

AU - Fresnillo, Pablo Malvido

AU - Vasudevan, Saigopal

AU - Mohammed, Wael M.

AU - Martinez Lastra, Jose L.

AU - Laudante, Gianluca

AU - Pirozzi, Salvatore

AU - Galassi, Kevin

AU - Palli, Gianluca

PY - 2021

Y1 - 2021

N2 - In this paper, a cyber-physical system composed by a tactile sensor, a robotic gripper and suitable ROS software nodes is proposed. The tactile sensors are shown to be compatible with three different commercial grippers, and the developed ROS nodes for the data acquisition and elaboration enable the implementation of complex tasks such as the grasping and the shape reconstruction of deformable linear objects like cables. The effectiveness of the systems is tested with cable of different diameters and with wiring harnesses composed by several cables grouped together, focusing on the reconstruction of linear and quadratic curves representing the cable shape. Experimental trials are also executed to show the possibility of exploiting the shape reconstruction provided by the proposed system to correct the gripper grasping pose.

AB - In this paper, a cyber-physical system composed by a tactile sensor, a robotic gripper and suitable ROS software nodes is proposed. The tactile sensors are shown to be compatible with three different commercial grippers, and the developed ROS nodes for the data acquisition and elaboration enable the implementation of complex tasks such as the grasping and the shape reconstruction of deformable linear objects like cables. The effectiveness of the systems is tested with cable of different diameters and with wiring harnesses composed by several cables grouped together, focusing on the reconstruction of linear and quadratic curves representing the cable shape. Experimental trials are also executed to show the possibility of exploiting the shape reconstruction provided by the proposed system to correct the gripper grasping pose.

KW - Cyber-physical systems

KW - Cyber-Physical Systems

KW - Deformable Object Manipulation

KW - Fingers

KW - Focusing

KW - Grasping

KW - ROS Applications

KW - Shape

KW - Tactile sensors

KW - Tactile Sensors

KW - Tactile-Based Grasping

KW - Wiring

U2 - 10.1109/ICPS49255.2021.9468151

DO - 10.1109/ICPS49255.2021.9468151

M3 - Conference contribution

SN - 978-1-6654-3045-6

SP - 525

EP - 530

BT - 2021 4th IEEE International Conference on Industrial Cyber-Physical Systems (ICPS)

PB - IEEE

T2 - IEEE International Conference on Industrial Cyber-Physical Systems

Y2 - 10 May 2021 through 12 May 2021

ER -

Deformable Objects Grasping and Shape Detection with Tactile Fingers and Industrial Grippers

Abstract

Conference

Keywords

Publication forum classification

Access to Document

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Datasets

REMODEL. WP5. Cable Manipulation Planning, Execution and Interactive Perception. T5_2. Cable grasping. Evaluation of tactile sensors performance for cables grasping. v0

Cite this