Model-free precise in-hand manipulation with a 3d-printed tactile gripper

EPSRC grant on tactile superresolution sensing (EP/M02993X/1) and Leadership Award from the Leverhulme Trust on 'A biomimetic forebrain for robot touch' (RL-2016-39). The following data was obtained from the TacTip-GR2, an optical tactile sensor integrated on the GR2 gripper.

The hand rolled cylinders of different diameters (20,25,30 and 35 mm) along a reorientation range in 40 increments. The data was used to demonstrate in-hand tactile reorientation in the GR2 gripper over sinusoidal trajectories.

Creator(s) Benjamin Ward-Cherrier, Nathan Lepora
Funder Engineering and Physical Sciences Research Council
Contributor(s) Nicolas Rojas
Publication date 20 Jun 2017
Language eng
Publisher University of Bristol
Licence Non-Commercial Government Licence for public sector information
DOI 10.5523/bris.39s7vsflucpqm2htfr3vo5bg62
Complete download (zip) https://data.bris.ac.uk/datasets/39s7vsflucpqm2htfr3vo5bg62/39s7vsflucpqm2htfr3vo5bg62.zip
Citation Benjamin Ward-Cherrier, Nathan Lepora (2017): Model-free precise in-hand manipulation with a 3d-printed tactile gripper. https://doi.org/10.5523/bris.39s7vsflucpqm2htfr3vo5bg62
Total size 79.5 MiB

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