ソフトバブル：ロボットマニピュレーションのための高柔軟・高密度形状触覚センサ
Soft-bubble: A highly compliant dense geometry tactile sensor for robot manipulation
膨らませたラテックス膜の奥に深度センサを配置した軽量で作りやすい高柔軟な触覚センサ兼エンドエフェクタを提案し、物体分類や姿勢推定・追跡、非把持マニピュレーションで有効性を示した。
著者: Alex Alspach, Kunimatsu Hashimoto, Naveen Kuppuswamy, Russ Tedrake
分類: cs.RO
原文アブストラクト
Incorporating effective tactile sensing and mechanical compliance is key towards enabling robust and safe operation of robots in unknown, uncertain and cluttered environments. Towards realizing this goal, we present a lightweight, easy-to-build, highly compliant dense geometry sensor and end effector that comprises an inflated latex membrane with a depth sensor behind it. We present the motivations and the hardware design for this Soft-bubble and demonstrate its capabilities through example tasks including tactile-object classification, pose estimation and tracking, and nonprehensile object manipulation. We also present initial experiments to show the importance of high-resolution geometry sensing for tactile tasks and discuss applications in robust manipulation.
