用嵌入摄像头实现软机器人高精度触觉与本体感觉感知
PneuGelSight: Soft Robotic Vision-Based Proprioception and Tactile Sensing
- 通过嵌入式摄像头实现软机器人的视觉感知
- 实测可达成高分辨率本体感觉与触觉反馈
- 无需额外传感器，适合工业与人机交互场景
柔性气动机器人因其柔性和顺应性，在工业和人机交互应用中广受欢迎。然而，将其应用于真实场景需要先进的触觉反馈与本体感觉能力。本文提出一种基于视觉的新型传感方法，应用于名为 PneuGelSight 的开创性气动机械臂，该机械臂通过内置摄像头实现高分辨率的本体感觉与触觉感知。为优化传感器性能，我们构建了一套完整的仿真管道，精确模拟其光学与动态特性，实现从仿真到现实的零样本知识迁移。PneuGelSight 与我们的仿真实现方案共同提供了一种新颖、易部署且鲁棒的软体机器人传感方法，为具备更强感知能力的先进软体机器人发展铺平道路。
原文摘要 · Abstract (English)
Soft pneumatic robot manipulators are popular in industrial and human-interactive applications due to their compliance and flexibility. However, deploying them in real-world scenarios requires advanced sensing for tactile feedback and proprioception. Our work presents a novel vision-based approach for sensorizing soft robots. We demonstrate our approach on PneuGelSight, a pioneering pneumatic manipulator featuring high-resolution proprioception and tactile sensing via an embedded camera. To optimize the sensor's performance, we introduce a comprehensive pipeline that accurately simulates its optical and dynamic properties, facilitating a zero-shot knowledge transition from simulation to real-world applications. PneuGelSight and our sim-to-real pipeline provide a novel, easily implementable, and robust sensing methodology for soft robots, paving the way for the development of more advanced soft robots with enhanced sensory capabilities.
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