Saved in:
| Main Authors: | , , , , , , , , |
|---|---|
| Format: | Preprint |
| Published: |
2025
|
| Subjects: | |
| Online Access: | https://arxiv.org/abs/2504.15535 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1866917994486038528 |
|---|---|
| author | Zhang, Kaidi Kim, Do-Gon Chang, Eric T. Liang, Hua-Hsuan He, Zhanpeng Lampo, Kathryn Wu, Philippe Kymissis, Ioannis Ciocarlie, Matei |
| author_facet | Zhang, Kaidi Kim, Do-Gon Chang, Eric T. Liang, Hua-Hsuan He, Zhanpeng Lampo, Kathryn Wu, Philippe Kymissis, Ioannis Ciocarlie, Matei |
| contents | The acoustic response of an object can reveal a lot about its global state, for example its material properties or the extrinsic contacts it is making with the world. In this work, we build an active acoustic sensing gripper equipped with two piezoelectric fingers: one for generating signals, the other for receiving them. By sending an acoustic vibration from one finger to the other through an object, we gain insight into an object's acoustic properties and contact state. We use this system to classify objects, estimate grasping position, estimate poses of internal structures, and classify the types of extrinsic contacts an object is making with the environment. Using our contact type classification model, we tackle a standard long-horizon manipulation problem: peg insertion. We use a simple simulated transition model based on the performance of our sensor to train an imitation learning policy that is robust to imperfect predictions from the classifier. We finally demonstrate the policy on a UR5 robot with active acoustic sensing as the only feedback. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2504_15535 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | VibeCheck: Using Active Acoustic Tactile Sensing for Contact-Rich Manipulation Zhang, Kaidi Kim, Do-Gon Chang, Eric T. Liang, Hua-Hsuan He, Zhanpeng Lampo, Kathryn Wu, Philippe Kymissis, Ioannis Ciocarlie, Matei Robotics The acoustic response of an object can reveal a lot about its global state, for example its material properties or the extrinsic contacts it is making with the world. In this work, we build an active acoustic sensing gripper equipped with two piezoelectric fingers: one for generating signals, the other for receiving them. By sending an acoustic vibration from one finger to the other through an object, we gain insight into an object's acoustic properties and contact state. We use this system to classify objects, estimate grasping position, estimate poses of internal structures, and classify the types of extrinsic contacts an object is making with the environment. Using our contact type classification model, we tackle a standard long-horizon manipulation problem: peg insertion. We use a simple simulated transition model based on the performance of our sensor to train an imitation learning policy that is robust to imperfect predictions from the classifier. We finally demonstrate the policy on a UR5 robot with active acoustic sensing as the only feedback. |
| title | VibeCheck: Using Active Acoustic Tactile Sensing for Contact-Rich Manipulation |
| topic | Robotics |
| url | https://arxiv.org/abs/2504.15535 |