提出新型水弹性模型，精准模拟柔性触觉传感器的路径依赖力分布。
Hydrosoft: Non-Holonomic Hydroelastic Models for Compliant Tactile Manipulation
- 扩展物体状态空间，显式建模柔性传感器产生的分布式力。
- 实现路径依赖力与动态接触面积的高精度仿真，支持梯度优化。
- 适用于需精细力感知的机器人抓取任务，尤其适合真实场景验证。
触觉传感器因其感知能力备受重视，能揭示机器人与物体之间难以观测的交互界面。然而其固有的柔性——驱动丰富力交互的关键因素——仍缺乏深入研究。核心挑战在于捕捉由这些被动柔性元件引入的复杂非线性动力学。本文提出一种计算高效的非完整水弹性模型，可精确建模路径依赖的接触力分布及动态表面变化。关键思想是扩展物体状态空间，显式纳入柔性传感器产生的分布式力。该可微分公式不仅体现路径依赖特性，还支持基于梯度的轨迹优化，与高分辨率触觉反馈无缝集成。我们在多种模拟与真实世界实验中验证了方法的有效性，并强调了建模传感器动力学路径依赖性的必要性。
原文摘要 · Abstract (English)
Tactile sensors have long been valued for their perceptual capabilities, offering rich insights into the otherwise hidden interface between the robot and grasped objects. Yet their inherent compliance -- a key driver of force-rich interactions -- remains underexplored. The central challenge is to capture the complex, nonlinear dynamics introduced by these passive-compliant elements. Here, we present a computationally efficient non-holonomic hydroelastic model that accurately models path-dependent contact force distributions and dynamic surface area variations. Our insight is to extend the object's state space, explicitly incorporating the distributed forces generated by the compliant sensor. Our differentiable formulation not only accounts for path-dependent behavior but also enables gradient-based trajectory optimization, seamlessly integrating with high-resolution tactile feedback. We demonstrate the effectiveness of our approach across a range of simulated and real-world experiments and highlight the importance of modeling the path dependence of sensor dynamics.
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