触覚センシングによる力覚フィードバックとVR三次元物体再構成を両立したロボット遠隔操作
Leveraging Tactile Sensing to Render both Haptic Feedback and Virtual Reality 3D Object Reconstruction in Robotic Telemanipulation
カメラが使えない環境でも、触覚センサから得た情報でVR内に物体形状を再構成し、操作者に力覚フィードバックを与えることで、目隠し状態でもピック・アンド・プレース遠隔操作が可能なことを示した。
著者: Gabriele Giudici, Aramis Augusto Bonzini, Claudio Coppola, Kaspar Althoefer, Ildar Farkhatdinov, Lorenzo Jamone
分類: cs.RO
原文アブストラクト
Dexterous robotic manipulator teleoperation is widely used in many applications, either where it is convenient to keep the human inside the control loop, or to train advanced robot agents. So far, this technology has been used in combination with camera systems with remarkable success. On the other hand, only a limited number of studies have focused on leveraging haptic feedback from tactile sensors in contexts where camera-based systems fail, such as due to self-occlusions or poor light conditions like smoke. This study demonstrates the feasibility of precise pick-and-place teleoperation without cameras by leveraging tactile-based 3D object reconstruction in VR and providing haptic feedback to a blindfolded user. Our preliminary results show that integrating these technologies enables the successful completion of telemanipulation tasks previously dependent on cameras, paving the way for more complex future applications.
