多指グリッパへの視覚ベース触覚センサの大規模展開
Large-scale Deployment of Vision-based Tactile Sensors on Multi-fingered Grippers
視覚ベース触覚センサを指の節や掌に複数搭載できるモジュール設計とゼロショット校正法を提案し、3本指グリッパに7個のセンサを実装して接触面全体の触覚知覚を改善した。
著者: Meng Wang, Wanlin Li, Hao Liang, Boren Li, Kaspar Althoefer, Yao Su, Hangxin Liu
分類: cs.RO
原文アブストラクト
Vision-based Tactile Sensors (VBTSs) show significant promise in that they can leverage image measurements to provide high-spatial-resolution human-like performance. However, current VBTS designs, typically confined to the fingertips of robotic grippers, prove somewhat inadequate, as many grasping and manipulation tasks require multiple contact points with the object. With an end goal of enabling large-scale, multi-surface tactile sensing via VBTSs, our research (i) develops a synchronized image acquisition system with minimal latency,(ii) proposes a modularized VBTS design for easy integration into finger phalanges, and (iii) devises a zero-shot calibration approach to improve data efficiency in the simultaneous calibration of multiple VBTSs. In validating the system within a miniature 3-fingered robotic gripper equipped with 7 VBTSs we demonstrate improved tactile perception performance by covering the contact surfaces of both gripper fingers and palm. Additionally, we show that our VBTS design can be seamlessly integrated into various end-effector morphologies significantly reducing the data requirements for calibration.
