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.