触覚を全身に備えた器用なロボットハンド「DManus」
All the Feels: A dexterous hand with large-area tactile sensing
手のひら全体と指先に触覚センサを備えた安価でモジュール式のロボットハンドを開発し、触覚を活用した仕分けタスクで有効性を示した。
著者: Raunaq Bhirangi, Abigail DeFranco, Jacob Adkins, Carmel Majidi, Abhinav Gupta, Tess Hellebrekers, Vikash Kumar
分類: cs.RO, cs.LG
原文アブストラクト
High cost and lack of reliability has precluded the widespread adoption of dexterous hands in robotics. Furthermore, the lack of a viable tactile sensor capable of sensing over the entire area of the hand impedes the rich, low-level feedback that would improve learning of dexterous manipulation skills. This paper introduces an inexpensive, modular, robust, and scalable platform -- the DManus -- aimed at resolving these challenges while satisfying the large-scale data collection capabilities demanded by deep robot learning paradigms. Studies on human manipulation point to the criticality of low-level tactile feedback in performing everyday dexterous tasks. The DManus comes with ReSkin sensing on the entire surface of the palm as well as the fingertips. We demonstrate effectiveness of the fully integrated system in a tactile aware task -- bin picking and sorting. Code, documentation, design files, detailed assembly instructions, trained models, task videos, and all supplementary materials required to recreate the setup can be found on https://sites.google.com/view/roboticsbenchmarks/platforms/dmanus.
