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Workshop / Seminar

School of Mechanical and Materials Engineering Seminar Series

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About the event

Making sense of the physical world with high-resolution tactile sensing


Presented by
Dr. Wenzhen Yuan, Assistant Professor, Robotics Institute, Carnegie Mellon University

In this talk, I will introduce the development of a high-resolution tactile sensor GelSight, and how it could help robots understand and interact with the physical world. GelSight is a vision-based tactile sensor that measures the geometry of the contact surface with a spatial resolution of around 25 micrometers, and it also measures the shear forces and torques at the contact surface. With the help of high-resolution information, a robot could easily detect the precise shape and texture of the object surfaces being contacted and therefore recognize them. But it can help robots get more information from contact, such as understanding different physical properties of the objects and assisting manipulation tasks. This talk will cover our previous works on both object property perception and slip detection with GelSight sensors. I will also discuss our recent development in tactile sensor simulation and how we envision the work will help the community with the research in tactile sensing.

Wenzhen Yuan is an assistant professor in the Robotics Institute at Carnegie Mellon University and the director of the CMU RoboTouch Lab. She is a pioneer in high-resolution tactile sensing for robots, and she also works in multi-modal robot perception, soft robots, robot manipulation, and haptics. Yuan received her Master of Science and PhD degrees from MIT and Bachelor of Engineering degree from Tsinghua University. She also worked as a Postdoctoral researcher at Stanford University.