Simulation of Optical Tactile Sensors Supporting Slip and Rotation using Path Tracing and IMPM
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arXiv
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| Autori principali: | , , , , , , |
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| Natura: | Preprint |
| Pubblicazione: |
2024
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| Soggetti: | |
| Accesso online: | |
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| _version_ | 1866916235574247424 |
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| author | Shen, Zirong Sun, Yuhao Zhang, Shixin Chen, Zixi Sun, Heyi Sun, Fuchun Fang, Bin |
| author_facet | Shen, Zirong Sun, Yuhao Zhang, Shixin Chen, Zixi Sun, Heyi Sun, Fuchun Fang, Bin |
| contents | Optical tactile sensors are extensively utilized in intelligent robot manipulation due to their ability to acquire high-resolution tactile information at a lower cost. However, achieving adequate reality and versatility in simulating optical tactile sensors is challenging. In this paper, we propose a simulation method and validate its effectiveness through experiments. We utilize path tracing for image rendering, achieving higher similarity to real data than the baseline method in simulating pressing scenarios. Additionally, we apply the improved Material Point Method(IMPM) algorithm to simulate the relative rest between the object and the elastomer surface when the object is in motion, enabling more accurate simulation of complex manipulations such as slip and rotation. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2405_02914 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Simulation of Optical Tactile Sensors Supporting Slip and Rotation using Path Tracing and IMPM Shen, Zirong Sun, Yuhao Zhang, Shixin Chen, Zixi Sun, Heyi Sun, Fuchun Fang, Bin Robotics Optical tactile sensors are extensively utilized in intelligent robot manipulation due to their ability to acquire high-resolution tactile information at a lower cost. However, achieving adequate reality and versatility in simulating optical tactile sensors is challenging. In this paper, we propose a simulation method and validate its effectiveness through experiments. We utilize path tracing for image rendering, achieving higher similarity to real data than the baseline method in simulating pressing scenarios. Additionally, we apply the improved Material Point Method(IMPM) algorithm to simulate the relative rest between the object and the elastomer surface when the object is in motion, enabling more accurate simulation of complex manipulations such as slip and rotation. |
| title | Simulation of Optical Tactile Sensors Supporting Slip and Rotation using Path Tracing and IMPM |
| topic | Robotics |
| url | https://arxiv.org/abs/2405.02914 |