Tacchi 2.0: 視覚ベース触覚センサ向けの低計算コストで包括的な動的接触シミュレータ
Tacchi 2.0: A Low Computational Cost and Comprehensive Dynamic Contact Simulator for Vision-based Tactile Sensors
Material Point Methodとピンホールカメラモデルを組み合わせ、視覚ベース触覚センサの触覚画像・マーカー動画像・関節画像を低計算コストで生成するシミュレータTacchi 2.0を開発した。
著者: Yuhao Sun, Shixin Zhang, Wenzhuang Li, Jie Zhao, Jianhua Shan, Zirong Shen, Zixi Chen, Fuchun Sun, Di Guo, Bin Fang
分類: cs.RO, cs.CV
原文アブストラクト
With the development of robotics technology, some tactile sensors, such as vision-based sensors, have been applied to contact-rich robotics tasks. However, the durability of vision-based tactile sensors significantly increases the cost of tactile information acquisition. Utilizing simulation to generate tactile data has emerged as a reliable approach to address this issue. While data-driven methods for tactile data generation lack robustness, finite element methods (FEM) based approaches require significant computational costs. To address these issues, we integrated a pinhole camera model into the low computational cost vision-based tactile simulator Tacchi that used the Material Point Method (MPM) as the simulated method, completing the simulation of marker motion images. We upgraded Tacchi and introduced Tacchi 2.0. This simulator can simulate tactile images, marked motion images, and joint images under different motion states like pressing, slipping, and rotating. Experimental results demonstrate the reliability of our method and its robustness across various vision-based tactile sensors.
