仿鳍足类动物胡须设计水下触觉传感器，实现高精度接触点追踪。
Whisker-Inspired Tactile Sensing: A Sim2Real Approach for Precise Underwater Contact Tracking
- 基于光纤光栅技术的被动式水下胡须传感器，通过非侵入式接触感知环境。
- 仿真训练+真实校准，实现<2毫米接触点追踪精度，无需精确机器人自知。
- 可泛化到未见过的物体，适合水下机器人精细交互任务。
鳍足类等水生哺乳动物利用胡须探测物体并分析水流，启发了机器人胡须的设计。本文基于光纤布拉格光栅（FBG）技术，提出一种水下胡须传感器设计与应用方法。这些被动式胡须安装在机器人外部，通过光信号实现非侵入式接触感知。为实现接触点追踪，采用仿真到现实的学习框架：先在仿真中大规模收集数据，再通过仿真到现实的校准过程，将仿真训练的模型迁移到真实世界。水下实验表明，该方法可实现<2毫米的接触点追踪精度，且无需依赖精确的机器人本体感知。结果还显示该方法对未见过的物体具有良好的泛化能力。
原文摘要 · Abstract (English)
Aquatic mammals, such as pinnipeds, utilize their whiskers to detect and discriminate objects and analyze water movements, inspiring the development of robotic whiskers for sensing contacts, surfaces, and water flows. We present the design and application of underwater whisker sensors based on Fiber Bragg Grating (FBG) technology. These passive whiskers are mounted along the robot$'$s exterior to sense its surroundings through light, non-intrusive contacts. For contact tracking, we employ a sim-to-real learning framework, which involves extensive data collection in simulation followed by a sim-to-real calibration process to transfer the model trained in simulation to the real world. Experiments with whiskers immersed in water indicate that our approach can track contact points with an accuracy of $<2$ mm, without requiring precise robot proprioception. We demonstrate that the approach also generalizes to unseen objects.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。