触覚センシングによる未知物体の把持内操作と挿入
In-Hand Manipulation of Unknown Objects with Tactile Sensing for Insertion
触覚情報のみを用いて未知物体の形状と姿勢を確率的に推定しながら把持内で回転させ、挿入タスクを効率的に達成するベイズ最適化手法を提案した。
著者: Chaoyi Pan, Marion Lepert, Shenli Yuan, Rika Antonova, Jeannette Bohg
分類: cs.RO
原文アブストラクト
In this paper, we present a method to manipulate unknown objects in-hand using tactile sensing without relying on a known object model. In many cases, vision-only approaches may not be feasible; for example, due to occlusion in cluttered spaces. We address this limitation by introducing a method to reorient unknown objects using tactile sensing. It incrementally builds a probabilistic estimate of the object shape and pose during task-driven manipulation. Our approach uses Bayesian optimization to balance exploration of the global object shape with efficient task completion. To demonstrate the effectiveness of our method, we apply it to a simulated Tactile-Enabled Roller Grasper, a gripper that rolls objects in hand while collecting tactile data. We evaluate our method on an insertion task with randomly generated objects and find that it reliably reorients objects while significantly reducing the exploration time.
