Tacchi 2.0用低成本模拟实现视觉触觉传感器的动态接触仿真。
Tacchi 2.0: A Low Computational Cost and Comprehensive Dynamic Contact Simulator for Vision-based Tactile Sensors
- 融合针孔相机模型与物质点法（MPM），降低计算开销。
- 可生成按压、滑动、旋转等状态下的触觉图像与标记运动图。
- 适用于多种视觉触觉传感器，提升数据生成可靠性。
随着机器人技术的发展，视觉触觉传感器被广泛应用于高接触任务。然而，其耐用性导致触觉信息获取成本高昂。利用仿真生成触觉数据成为可靠解决方案。现有数据驱动方法鲁棒性差，基于有限元方法（FEM）的方案计算成本过高。为此，我们将在低成本视觉触觉仿真器Tacchi中引入针孔相机模型，采用物质点法（MPM）模拟标记运动图像，完成仿真升级，推出Tacchi 2.0。该仿真器可模拟按压、滑动、旋转等不同运动状态下的触觉图像、标记运动图像及关节图像。实验表明，该方法在多种视觉触觉传感器上均具备可靠性和鲁棒性。
原文摘要 · Abstract (English)
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.
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