MultiSCOPE: 固有感覚と触覚フィードバックによる把持物体姿勢の曖昧性解消
MultiSCOPE: Disambiguating In-Hand Object Poses with Proprioception and Tactile Feedback
双腕ロボットが物体を把持した際の姿勢推定を、固有感覚と触覚フィードバックを用いて摩擦接触を繰り返すことで高精度化する手法を提案し、実機とシミュレーションで有効性を示した。
著者: Andrea Sipos, Nima Fazeli
分類: cs.RO
原文アブストラクト
In this paper, we propose a method for estimating in-hand object poses using proprioception and tactile feedback from a bimanual robotic system. Our method addresses the problem of reducing pose uncertainty through a sequence of frictional contact interactions between the grasped objects. As part of our method, we propose 1) a tool segmentation routine that facilitates contact location and object pose estimation, 2) a loss that allows reasoning over solution consistency between interactions, and 3) a loss to promote converging to object poses and contact locations that explain the external force-torque experienced by each arm. We demonstrate the efficacy of our method in a task-based demonstration both in simulation and on a real-world bimanual platform and show significant improvement in object pose estimation over single interactions. Visit www.mmintlab.com/multiscope/ for code and videos.
