[论文解读] Tac3D: A Novel Vision-based Tactile Sensor for Measuring Forces Distribution and Estimating Friction Coefficient Distribution

Lunwei Zhang, Yue Wang+1 more|arXiv (Cornell University)|Feb 13, 2022

Tactile and Sensory Interactions被引用 31

一句话总结

Tac3D 引入一种基于视觉的触觉传感器，其利用虚拟双目视觉来测量3D触觉信息和力分布，估计摩擦系数分布，并重建带有摩擦映射的3D物体模型。

ABSTRACT

The importance of force perception in interacting with the environment was proven years ago. However, it is still a challenge to measure the contact force distribution accurately in real-time. In order to break through this predicament, we propose a new vision-based tactile sensor, the Tac3D sensor, for measuring the three-dimensional contact surface shape and contact force distribution. In this work, virtual binocular vision is first applied to the tactile sensor, which allows the Tac3D sensor to measure the three-dimensional tactile information in a simple and efficient way and has the advantages of simple structure, low computational costs, and inexpensive. Then, we used contact surface shape and force distribution to estimate the friction coefficient distribution in contact region. Further, combined with the global position of the tactile sensor, the 3D model of the object with friction coefficient distribution is reconstructed. These reconstruction experiments not only demonstrate the excellent performance of the Tac3D sensor but also imply the possibility to optimize the action planning in grasping based on the friction coefficient distribution of the object.

研究动机与目标

• 在操作任务中动机：需要对实时接触力分布进行准确感知。
• 提出一种基于视觉的触觉感知方法（Tac3D），用于获取3D触觉信息和力映射。
• 实现对接触区域内摩擦系数分布的估计。
• 利用传感器数据和全局位姿重建带有摩擦分布的3D物体模型。

提出的方法

• 对触觉传感器应用虚拟双目视觉以获取3D触觉信息。
• 从视觉数据推导接触表面形状并计算力分布。
• 从接触形状和力数据估计摩擦系数分布。
• 将触觉数据与全局传感器位姿结合，重建具有摩擦映射的物体3D模型。
• 通过重建实验验证性能并展示对动作规划优化的潜在作用。

实验结果

研究问题

• RQ1 基于视觉的触觉传感器是否能够实时准确地测量3D接触表面形状？
• RQ2 传感器数据是否可用于估计接触区域内的摩擦系数分布？
• RQ3 3D触觉信息和摩擦映射是否可用于重建带有空间摩擦分布的物体3D模型？
• RQ4 对抓取规划而言，摩擦分布知识的潜在影响是什么？

主要发现

• Tac3D 传感器通过基于视觉的方法实现对3D触觉信息和接触力分布的测量。
• 可以从接触表面形状和力数据估计摩擦系数分布。
• 结合全局位姿，Tac3D 支持重建具有摩擦分布的3D物体模型。
• 实验表明传感器的性能，并暗示对考虑摩擦的抓取规划的好处。