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Incorporating effective tactile sensing and mechanical compliance is keytowards enabling robust and safe operation of robots in unknown, uncertain andcluttered environments. Towards realizing this goal, we present a lightweight,easy-to-build, highly compliant dense geometry sensor and end effector thatcomprises an inflated latex membrane with a depth sensor behind it. We presentthe motivations and the hardware design for this Soft-bubble and demonstrateits capabilities through example tasks including tactile-object classification,pose estimation and tracking, and nonprehensile object manipulation. We alsopresent initial experiments to show the importance of high-resolution geometrysensing for tactile tasks and discuss applications in robust manipulation.

Soft-bubble: A highly compliant dense geometry tactile sensor for robot manipulation