Videos

  WIRE SHAPE ESTIMATION  

The video shows side by side the tactile signals with the data related to their post processing with the estimated wire shape and the actual wire used during the experiments. Different diameters have been used.

 

This video compares the same data reported in the video above, but in this case superimposed, in order to allow an immediate comparison between the estimated shape and the ground truth.

 

  CABLE REGRASPING BASED ON TACTILE SENSOR 

The video reports an experiment of re-grasp on the basis of tactile data. After a first grasp where the wire shape is estimated, the wire is re-grasped in order to horizontally align the wire with respect to the tactile sensor frame.

 

CABLE REGRASPING BASED ON VISION SENSOR  

The video shows the localization of the cable by the vision sensor through the Ariadne software package. The vision sensor provides the grasp pose on the cable to the robot that then execute the grasp. The system has been tested with cables of different size and colours and with different background and light conditions