ヒゲに着想を得た触覚センシング：水中接触追跡のためのSim2Realアプローチ
Whisker-Inspired Tactile Sensing: A Sim2Real Approach for Precise Underwater Contact Tracking
アザラシなどのヒゲを模した光ファイバーセンサーで水中の接触点を高精度に追跡する手法を開発し、シミュレーションから実世界への転移学習により2mm未満の精度を実現した。
著者: Hao Li, Chengyi Xing, Saad Khan, Miaoya Zhong, Mark R. Cutkosky
分類: cs.RO, cs.AI
原文アブストラクト
Aquatic mammals, such as pinnipeds, utilize their whiskers to detect and discriminate objects and analyze water movements, inspiring the development of robotic whiskers for sensing contacts, surfaces, and water flows. We present the design and application of underwater whisker sensors based on Fiber Bragg Grating (FBG) technology. These passive whiskers are mounted along the robot$'$s exterior to sense its surroundings through light, non-intrusive contacts. For contact tracking, we employ a sim-to-real learning framework, which involves extensive data collection in simulation followed by a sim-to-real calibration process to transfer the model trained in simulation to the real world. Experiments with whiskers immersed in water indicate that our approach can track contact points with an accuracy of $<2$ mm, without requiring precise robot proprioception. We demonstrate that the approach also generalizes to unseen objects.
