Exploratory tactile servoing with active touch

EPSRC grant on tactile superresolution sensing (EP/M02993X/1).

The following data was obtained from the TacTip, an optical tactile sensor integrated on a 6-dof robotic arm. Data was collected for contour following experiments location and identity data was collected over 90 deg (10 degree increments) and a 20 mm range (1 mm increments) across the edge. Data was then used to demonstrate contour following on 3 stimuli (a circular edge, a volute edge and a volute ridge) with the TacTip.