REMODEL. WP5. T5_2_3. Combining Vision and Tactile Data for Cable Grasping

The dataset contains the visual results obtained from deformable linear objects (DLOs) grasping experiments performed in the framework of REMODEL project. These experiments were focused on properly combine vision and tactile data to locate a DLO and grasp it according to a required position and orientation. The robot is programmed to grasp a wire and bring it in front of a camera (intrinsic and extrinsic parameter of the camera needs to be known), then a picture is taken and using Ariadne+ is obtained the position of the wire not occluded by the gripper while the remaining part reconstructed by the tactile sensor. In the dataset are also included: (1) the data reading from the tactile sensor developed inside the REMODEL project provided by UCLV and used for these experiments; (2) the corresponding code used to reproduce the results (the executable is compatible with all the ROS’s compatible robot with the tactile sensor). More specific information about the method and the results can be found in the paper: A. Caporali, K. Galassi, G. Laudante, G. Palli and S. Pirozzi, "Combining Vision and Tactile Data for Cable Grasping", 2021 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2021, pp. 436-441, doi: 10.1109/AIM46487.2021.9517447