Abstract
Grasping objects requires tight integration between visual and tactile feedback. However, there is an inherent difference in the scale at which both these input modalities operate. It is thus necessary to be able to analyze tactile feedback in isolation in order to gain information about the surface the end-effector is operating on, such that more fine-grained features may be extracted from the surroundings. For tactile perception of the robot, inspired by the concept of the tactile flow in humans, we present the computational tactile flow to improve the analysis of the tactile feedback in robots using a Shadow Dexterous Hand. In the computational tactile flow model, given a sequence of pressure values from the tactile sensors, we define a virtual surface for the pressure values and define the tactile flow as the optical flow of this surface. We provide case studies that demonstrate how the computational tactile flow maps reveal information on the direction of motion and 3D structure of the surface, and feedback regarding the action being performed by the robot.
Abstract (translated)
抓取物体需要视觉和触觉反馈的紧密结合。然而，这两种输入方式的操作规模存在固有的差异。因此，有必要能够单独分析触觉反馈，以便获得末端执行器操作表面的信息，以便从周围提取更多的细粒度特征。对于机器人的触觉感知，受人类触觉流概念的启发，我们提出了计算触觉流的概念，以改进用灵巧的阴影手对机器人触觉反馈的分析。
URL
https://arxiv.org/abs/1903.08248
