论文标题
TAC3D：一种基于视觉的新型触觉传感器，用于测量力分布和估计摩擦系数分布
Tac3D: A Novel Vision-based Tactile Sensor for Measuring Forces Distribution and Estimating Friction Coefficient Distribution
论文作者
论文摘要
多年前证明了武力感知在与环境互动的重要性。但是，实时准确测量接触力分布仍然是一个挑战。为了突破这种困境，我们提出了一个新的基于视觉的触觉传感器TAC3D传感器，用于测量三维接触表面形状和接触力分布。在这项工作中，虚拟双眼视觉首先应用于触觉传感器，该传感器使TAC3D传感器可以简单有效地测量三维触觉信息，并具有简单结构，低计算成本和廉价的优势。然后，我们使用接触表面形状和力分布来估计接触区域中的摩擦系数分布。此外，与触觉传感器的全局位置相结合，重建具有摩擦系数分布的对象的3D模型。这些重建实验不仅证明了TAC3D传感器的出色性能，而且还意味着根据对象的摩擦系数分布来优化操作计划的可能性。
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.
