粒状体の材料特性を実世界の深度画像から推定するロボティクス向けフレームワーク
Inferring the Material Properties of Granular Media for Robotic Tasks
粒状材料の山やリングの実世界深度画像から摩擦・反発係数をベイズ推定し、物理シミュレータを自動キャリブレーションする手法を提案。未見の形状予測やロボットによる注ぎ・パターン形成タスクへの汎化を実証した。
著者: Carolyn Matl, Yashraj Narang, Ruzena Bajcsy, Fabio Ramos, Dieter Fox
分類: cs.RO, cs.GR
原文アブストラクト
Granular media (e.g., cereal grains, plastic resin pellets, and pills) are ubiquitous in robotics-integrated industries, such as agriculture, manufacturing, and pharmaceutical development. This prevalence mandates the accurate and efficient simulation of these materials. This work presents a software and hardware framework that automatically calibrates a fast physics simulator to accurately simulate granular materials by inferring material properties from real-world depth images of granular formations (i.e., piles and rings). Specifically, coefficients of sliding friction, rolling friction, and restitution of grains are estimated from summary statistics of grain formations using likelihood-free Bayesian inference. The calibrated simulator accurately predicts unseen granular formations in both simulation and experiment; furthermore, simulator predictions are shown to generalize to more complex tasks, including using a robot to pour grains into a bowl, as well as to create a desired pattern of piles and rings. Visualizations of the framework and experiments can be viewed at https://youtu.be/OBvV5h2NMKA
