论文标题
用于机器人触觉模拟的颗粒的弹性相互作用
Elastic Interaction of Particles for Robotic Tactile Simulation
论文作者
论文摘要
触觉传感在机器人感知和操纵中起着重要作用。为了克服数据收集的现实局限性，在虚拟环境中模拟触觉响应是机器人研究的欲望方向。大多数现有的作品将触觉传感器模型为刚体的刚性多体，它无力反映触觉传感器的弹性特性，并且可以表征两个对象之间的细粒度物理相互作用。在本文中，我们提出了颗粒（EIP）的弹性相互作用，这是触觉仿真的新型框架。 EIP以此为核心，将触觉传感器作为一组协调的颗粒建模，并应用弹性理论来调节接触过程中颗粒的变形。 EIP的实施是从头开始进行的，而无需诉诸于任何现有的物理引擎。对我们方法的有效性进行了实验，已经对两种应用进行了：带有触觉数据的机器人感知和触觉 - 视觉融合的3D几何重建。有可能为机器人触觉模拟打开新的静脉，并有助于各种下游机器人任务。
Tactile sensing plays an important role in robotic perception and manipulation. To overcome the real-world limitations of data collection, simulating tactile response in virtual environment comes as a desire direction of robotic research. Most existing works model the tactile sensor as a rigid multi-body, which is incapable of reflecting the elastic property of the tactile sensor as well as characterizing the fine-grained physical interaction between two objects. In this paper, we propose Elastic Interaction of Particles (EIP), a novel framework for tactile emulation. At its core, EIP models the tactile sensor as a group of coordinated particles, and the elastic theory is applied to regulate the deformation of particles during the contact process. The implementation of EIP is conducted from scratch, without resorting to any existing physics engine. Experiments to verify the effectiveness of our method have been carried out on two applications: robotic perception with tactile data and 3D geometric reconstruction by tactile-visual fusion. It is possible to open up a new vein for robotic tactile simulation, and contribute to various downstream robotic tasks.
