高密度カラーパターンを用いた視覚型触覚センサDelTact
DelTact: A Vision-based Tactile Sensor Using Dense Color Pattern
高密度ランダムカラーパターンと光学フローで接触面の形状・力分布を高精度に推定する視覚型触覚センサを提案し、低誤差・40Hzで計測できることを示した。
著者: Guanlan Zhang, Yipai Du, Hongyu Yu, Michael Yu Wang
分類: cs.RO
原文アブストラクト
Tactile sensing is an essential perception for robots to complete dexterous tasks. As a promising tactile sensing technique, vision-based tactile sensors have been developed to improve robot performance in manipulation and grasping. Here we propose a new design of a vision-based tactile sensor, DelTact. The sensor uses a modular hardware architecture for compactness whilst maintaining a contact measurement of full resolution (798*586) and large area (675mm2). Moreover, it adopts an improved dense random color pattern based on the previous version to achieve high accuracy of contact deformation tracking. In particular, we optimize the color pattern generation process and select the appropriate pattern for coordinating with a dense optical flow algorithm under a real-world experimental sensory setting. The optical flow obtained from the raw image is processed to determine shape and force distribution on the contact surface. We also demonstrate the method to extract contact shape and force distribution from the raw images. Experimental results demonstrate that the sensor is capable of providing tactile measurements with low error and high frequency (40Hz).
