论文标题
软泡毛机，用于稳健和敏锐的操纵
Soft-Bubble grippers for robust and perceptive manipulation
论文作者
论文摘要
在杂乱的环境中的操纵之类的房屋需要稳定的抓地力，精确的放置和鲁棒性，以防止外部接触。我们介绍了具有高度合规的抓地力表面和密集几何的Visuotactile感测，能够具有多种触觉感知。我们首先提出了各种机械设计的进步和一种制造技术，以将自定义图案存放到传感器的内部表面，从而可以跟踪剪切诱导的Manipuland位移。内部成像传感器输出的深度映射在手工接近姿势估计框架中使用 - 该方法更好地捕获了距离几何形状上的角或边缘的距离。我们还扩展了以前的触觉分类工作，并将系统集成到杂乱无章的家庭环境中的强大操纵管道中。通过强大的执行多个现实的操纵任务来证明拟议系统的功能。可以在此处找到系统的视频：[https：//youtu.be/g_wbsbqybfc]。
Manipulation in cluttered environments like homes requires stable grasps, precise placement and robustness against external contact. We present the Soft-Bubble gripper system with a highly compliant gripping surface and dense-geometry visuotactile sensing, capable of multiple kinds of tactile perception. We first present various mechanical design advances and a fabrication technique to deposit custom patterns to the internal surface of the sensor that enable tracking of shear-induced displacement of the manipuland. The depth maps output by the internal imaging sensor are used in an in-hand proximity pose estimation framework -- the method better captures distances to corners or edges on the manipuland geometry. We also extend our previous work on tactile classification and integrate the system within a robust manipulation pipeline for cluttered home environments. The capabilities of the proposed system are demonstrated through robust execution multiple real-world manipulation tasks. A video of the system in action can be found here: [https://youtu.be/G_wBsbQyBfc].
