触れて置く：精密な物体配置における触覚センシングの重要性に関する実証研究
Placing by Touching: An empirical study on the importance of tactile sensing for precise object placing
触覚フィードバックと固有感覚を組み合わせ、未知の初期姿勢から物体を平らな面に安定して置くためのニューラルネットワークを提案し、触覚が器用な操作に重要であることを実証した。
著者: Luca Lach, Niklas Funk, Robert Haschke, Severin Lemaignan, Helge Joachim Ritter, Jan Peters, Georgia Chalvatzaki
分類: cs.RO
原文アブストラクト
This work deals with a practical everyday problem: stable object placement on flat surfaces starting from unknown initial poses. Common object-placing approaches require either complete scene specifications or extrinsic sensor measurements, e.g., cameras, that occasionally suffer from occlusions. We propose a novel approach for stable object placing that combines tactile feedback and proprioceptive sensing. We devise a neural architecture that estimates a rotation matrix, resulting in a corrective gripper movement that aligns the object with the placing surface for the subsequent object manipulation. We compare models with different sensing modalities, such as force-torque and an external motion capture system, in real-world object placing tasks with different objects. The experimental evaluation of our placing policies with a set of unseen everyday objects reveals significant generalization of our proposed pipeline, suggesting that tactile sensing plays a vital role in the intrinsic understanding of robotic dexterous object manipulation. Code, models, and supplementary videos are available at https://sites.google.com/view/placing-by-touching.
