触覚センサ学習のための有限要素法による真の力分布生成
Ground truth force distribution for learning-based tactile sensing: a finite element approach
有限要素モデルで接触力の3次元分布の正解データを作り、視覚型触覚センサの画像からニューラルネットで力分布を推定できるようにした研究。
著者: Carmelo Sferrazza, Adam Wahlsten, Camill Trueeb, Raffaello D'Andrea
分類: cs.RO
原文アブストラクト
Skin-like tactile sensors provide robots with rich feedback related to the force distribution applied to their soft surface. The complexity of interpreting raw tactile information has driven the use of machine learning algorithms to convert the sensory feedback to the quantities of interest. However, the lack of ground truth sources for the entire contact force distribution has mainly limited these techniques to the sole estimation of the total contact force and the contact center on the sensor's surface. The method presented in this article uses a finite element model to obtain ground truth data for the three-dimensional force distribution. The model is obtained with state-of-the-art material characterization methods and is evaluated in an indentation setup, where it shows high agreement with the measurements retrieved from a commercial force-torque sensor. The proposed technique is applied to a vision-based tactile sensor, which aims to reconstruct the contact force distribution purely from images. Thousands of images are matched to ground truth data and are used to train a neural network architecture, which is suitable for real-time predictions.
