可変密度3次元触覚人工皮膚における接触位置推定の機械学習アプローチ
A Machine Learning Approach to Contact Localization in Variable Density Three-Dimensional Tactile Artificial Skin
半円錐形の3次元人工皮膚に不均一に配置された静電容量式触覚センサの接触位置を、全結合ニューラルネットワークで推定し、平均誤差5.7mmを達成した。
著者: Carson Kohlbrenner, Mitchell Murray, Yutong Zhang, Caleb Escobedo, Thomas Dunnington, Nolan Stevenson, Nikolaus Correll, Alessandro Roncone
分類: cs.RO
原文アブストラクト
Estimating the location of contact is a primary function of artificial tactile sensing apparatuses that perceive the environment through touch. Existing contact localization methods use flat geometry and uniform sensor distributions as a simplifying assumption, limiting their ability to be used on 3D surfaces with variable density sensing arrays. This paper studies contact localization on an artificial skin embedded with mutual capacitance tactile sensors, arranged non-uniformly in an unknown distribution along a semi-conical 3D geometry. A fully connected neural network is trained to localize the touching points on the embedded tactile sensors. The studied online model achieves a localization error of $5.7 \pm 3.0$ mm. This research contributes a versatile tool and robust solution for contact localization that is ambiguous in shape and internal sensor distribution.
