Exploiting sensor symmetry for generalized tactile perception in biomimetic 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 edge orientation in 1 degree increments over a 360 degree range, and for contour following experiments location and identity data was collected over 360 deg (5 degree increments) and a 20 mm range (1 mm increments) across the edge. Data was then generalized using sensor symmetry from the first 30 degrees of collected data, and used to demonstrate contour following with the TacTip using generalized data.

Creator(s) Benjamin Ward-Cherrier, Nathan Lepora, Luke Cramphorn
Funder Engineering and Physical Sciences Research Council
Publication date 14 Feb 2017
Language eng
Publisher University of Bristol
Licence Non-Commercial Government License for public sector information
DOI 10.5523/bris.vq6mpgxfyb8h2x0s6k85yu62r
Complete download (zip) https://data.bris.ac.uk/datasets/vq6mpgxfyb8h2x0s6k85yu62r/vq6mpgxfyb8h2x0s6k85yu62r.zip
Citation Benjamin Ward-Cherrier, Nathan Lepora, Luke Cramphorn (2017): Exploiting sensor symmetry for generalized tactile perception in biomimetic touch. https://doi.org/10.5523/bris.vq6mpgxfyb8h2x0s6k85yu62r
Total size 160.8 MiB

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