DTactive: A Vision-Based Tactile Sensor with Active Surface
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arXiv
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| Hauptverfasser: | , , , , |
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| Format: | Preprint |
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2024
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| _version_ | 1866912068263739392 |
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| author | Xu, Jikai Wu, Lei Lin, Changyi Zhao, Ding Xu, Huazhe |
| author_facet | Xu, Jikai Wu, Lei Lin, Changyi Zhao, Ding Xu, Huazhe |
| contents | The development of vision-based tactile sensors has significantly enhanced robots' perception and manipulation capabilities, especially for tasks requiring contact-rich interactions with objects. In this work, we present DTactive, a novel vision-based tactile sensor with active surfaces. DTactive inherits and modifies the tactile 3D shape reconstruction method of DTact while integrating a mechanical transmission mechanism that facilitates the mobility of its surface. Thanks to this design, the sensor is capable of simultaneously performing tactile perception and in-hand manipulation with surface movement. Leveraging the high-resolution tactile images from the sensor and the magnetic encoder data from the transmission mechanism, we propose a learning-based method to enable precise angular trajectory control during in-hand manipulation. In our experiments, we successfully achieved accurate rolling manipulation within the range of [ -180°,180° ] on various objects, with the root mean square error between the desired and actual angular trajectories being less than 12° on nine trained objects and less than 19° on three novel objects. The results demonstrate the potential of DTactive for in-hand object manipulation in terms of effectiveness, robustness and precision. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2410_08337 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | DTactive: A Vision-Based Tactile Sensor with Active Surface Xu, Jikai Wu, Lei Lin, Changyi Zhao, Ding Xu, Huazhe Robotics The development of vision-based tactile sensors has significantly enhanced robots' perception and manipulation capabilities, especially for tasks requiring contact-rich interactions with objects. In this work, we present DTactive, a novel vision-based tactile sensor with active surfaces. DTactive inherits and modifies the tactile 3D shape reconstruction method of DTact while integrating a mechanical transmission mechanism that facilitates the mobility of its surface. Thanks to this design, the sensor is capable of simultaneously performing tactile perception and in-hand manipulation with surface movement. Leveraging the high-resolution tactile images from the sensor and the magnetic encoder data from the transmission mechanism, we propose a learning-based method to enable precise angular trajectory control during in-hand manipulation. In our experiments, we successfully achieved accurate rolling manipulation within the range of [ -180°,180° ] on various objects, with the root mean square error between the desired and actual angular trajectories being less than 12° on nine trained objects and less than 19° on three novel objects. The results demonstrate the potential of DTactive for in-hand object manipulation in terms of effectiveness, robustness and precision. |
| title | DTactive: A Vision-Based Tactile Sensor with Active Surface |
| topic | Robotics |
| url | https://arxiv.org/abs/2410.08337 |