DTactive：能動表面を備えた視覚ベース触覚センサ
DTactive: A Vision-Based Tactile Sensor with Active Surface
表面が動く機構を組み込んだ視覚ベース触覚センサを開発し、触覚知覚と把持内操作を同時に実現、学習により物体の回転操作を高精度に制御した。
著者: Jikai Xu, Lei Wu, Changyi Lin, Ding Zhao, Huazhe Xu
分類: cs.RO
原文アブストラクト
The development of vision-based tactile sensors has significantly enhanced robots' perception and manipulation capabilities, especially for tasks requiring contact-rich interactions with objects. In this work, we present DTactive, a novel vision-based tactile sensor with active surfaces. DTactive inherits and modifies the tactile 3D shape reconstruction method of DTact while integrating a mechanical transmission mechanism that facilitates the mobility of its surface. Thanks to this design, the sensor is capable of simultaneously performing tactile perception and in-hand manipulation with surface movement. Leveraging the high-resolution tactile images from the sensor and the magnetic encoder data from the transmission mechanism, we propose a learning-based method to enable precise angular trajectory control during in-hand manipulation. In our experiments, we successfully achieved accurate rolling manipulation within the range of [ -180{\deg},180{\deg} ] on various objects, with the root mean square error between the desired and actual angular trajectories being less than 12{\deg} on nine trained objects and less than 19{\deg} on three novel objects. The results demonstrate the potential of DTactive for in-hand object manipulation in terms of effectiveness, robustness and precision.
