視覚ベースのロボットスキンに向けた多カメラ触覚センサ
Towards vision-based robotic skins: a data-driven, multi-camera tactile sensor
柔らかい表面内の粒子の動きを複数の小型カメラで撮影し、機械学習で3次元接触力分布に変換する薄型・大面積の光学式触覚センサを設計した。
著者: Camill Trueeb, Carmelo Sferrazza, Raffaello D'Andrea
分類: cs.RO, cs.CV
原文アブストラクト
This paper describes the design of a multi-camera optical tactile sensor that provides information about the contact force distribution applied to its soft surface. This information is contained in the motion of spherical particles spread within the surface, which deforms when subject to force. The small embedded cameras capture images of the different particle patterns that are then mapped to the three-dimensional contact force distribution through a machine learning architecture. The design proposed in this paper exhibits a larger contact surface and a thinner structure than most of the existing camera-based tactile sensors, without the use of additional reflecting components such as mirrors. A modular implementation of the learning architecture is discussed that facilitates the scalability to larger surfaces such as robotic skins.
