论文标题
数字：一种新型的设计，用于低成本紧凑的高分辨率触觉传感器，并应用于手工操纵
DIGIT: A Novel Design for a Low-Cost Compact High-Resolution Tactile Sensor with Application to In-Hand Manipulation
论文作者
论文摘要
尽管进行了数十年的研究，但通用操纵仍然是机器人技术的尚未解决的挑战之一。限制当前机器人操纵系统的促成因素之一是难以精确感应接触力 - 对接触力的传感和推理对于准确控制与环境的相互作用至关重要。为了迈向更好的机器人操纵，我们引入了数字，这是一种廉价，紧凑且高分辨率的触觉传感器，适合手持操作。通过将要在多指手指上安装的外形尺寸以及提供几种设计改进，从而改善了过去的基于视觉的触觉传感器，从而改善了数字，并提供了一些设计改进，从而导致更轻松，更重复的制造过程和增强的可靠性。我们通过训练基于Deep神经网络模型的控制器来用多指机器人手来操纵玻璃大理石来证明数字传感器的功能。为了为机器人社区提供可靠和低成本触觉传感器的访问，我们可以在https://digit.ml/上开放数字设计。
Despite decades of research, general purpose in-hand manipulation remains one of the unsolved challenges of robotics. One of the contributing factors that limit current robotic manipulation systems is the difficulty of precisely sensing contact forces -- sensing and reasoning about contact forces are crucial to accurately control interactions with the environment. As a step towards enabling better robotic manipulation, we introduce DIGIT, an inexpensive, compact, and high-resolution tactile sensor geared towards in-hand manipulation. DIGIT improves upon past vision-based tactile sensors by miniaturizing the form factor to be mountable on multi-fingered hands, and by providing several design improvements that result in an easier, more repeatable manufacturing process, and enhanced reliability. We demonstrate the capabilities of the DIGIT sensor by training deep neural network model-based controllers to manipulate glass marbles in-hand with a multi-finger robotic hand. To provide the robotic community access to reliable and low-cost tactile sensors, we open-source the DIGIT design at https://digit.ml/.
