The demonstration presents a robotic event-based tactile infrastructure for a humanoid robot. It leverages on currently deployed sample-based capacitive sensors to generate tactile events, enabling the investigation and development of event-driven tactile applications, and minimizing communica- tion bandwidth and latency. The modular FPGA-based system samples data from tactile sensors and generates address-events, transmitted through an asynchronous serial address-event rep- resentation protocol. To enable performance comparisons of the event-driven approach with respect to standard sample- based solutions, the acquisition modules can directly forward the input samples through the same event-based communication channel. We will show in real time a comparison between the tactile events and the original sampled data generated when the skin patch is touched.
Live Demonstration: Tactile Events from Off-The-Shelf Sensors in a Robotic Skin / Chiara, Bartolozzi; MOTTO ROS, Paolo; Peloso, Riccardo; Francesco, Diotalevi; Marco, Crepaldi; Martina, Maurizio; Demarchi, Danilo. - ELETTRONICO. - 1:(2018), pp. 1-1. (Intervento presentato al convegno IEEE International Symposium on Circuits and Systems (ISCAS) tenutosi a Firenze (ITA) nel 27-30 maggio 2018) [10.1109/ISCAS.2018.8351699].
Live Demonstration: Tactile Events from Off-The-Shelf Sensors in a Robotic Skin
Paolo Motto Ros;PELOSO, RICCARDO;Maurizio Martina;Danilo Demarchi
2018
Abstract
The demonstration presents a robotic event-based tactile infrastructure for a humanoid robot. It leverages on currently deployed sample-based capacitive sensors to generate tactile events, enabling the investigation and development of event-driven tactile applications, and minimizing communica- tion bandwidth and latency. The modular FPGA-based system samples data from tactile sensors and generates address-events, transmitted through an asynchronous serial address-event rep- resentation protocol. To enable performance comparisons of the event-driven approach with respect to standard sample- based solutions, the acquisition modules can directly forward the input samples through the same event-based communication channel. We will show in real time a comparison between the tactile events and the original sampled data generated when the skin patch is touched.File | Dimensione | Formato | |
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https://hdl.handle.net/11583/2712594
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