Generating an image of an object’s appearance from somatosensory information during haptic exploration
Generating an image of an object’s appearance from somatosensory information during haptic exploration
复制标题
在触觉探索过程中根据体感信息生成物体外观的图像
DOI：
10.1109/iros40897.2019.8967795
复制
发表时间：
2019
期刊：
影响因子：
--
通讯作者：
Kuniyoshi Yasuo
中科院分区：
文献类型：
--
作者：
Sekiya Kento;Ohmura Yoshiyuki;Kuniyoshi Yasuo
由环境或机器人本身引起的视觉遮挡可能是机器人手操作过程中物体识别的一个问题。在这种情况下，触觉和体感信息在操作过程中对物体识别是有用的。人类仅凭手提供的体感信息就能想象出看不见的物体的外观。在本文中，我们提出了一种利用机器人手指在触摸物体时提供的关节角度和触摸信息生成不可见物体姿态图像的方法。通过回归分析，可以从机械手关节角度的时间序列中估计出物体的姿态。此外，条件生成对抗网络可以根据估计的姿态生成显示不可见物体外观的图像。我们的方法在远程控制应用中实现了用户友好的体感信息可视化。
Visual occlusions caused by the environment or by the robot itself can be a problem for object recognition during manipulation by a robot hand. Under such conditions, tactile and somatosensory information are useful for object recognition during manipulation. Humans can visualize the appearance of invisible objects from only the somatosensory information provided by their hands. In this paper, we propose a method to generate an image of an invisible object's posture from the joint angles and touch information provided by robot fingers while touching the object. We show that the object's posture can be estimated from the time-series of the joint angles of the robot hand via regression analysis. In addition, conditional generative adversarial networks can generate an image to show the appearance of the invisible objects from their estimated postures. Our approach enables user-friendly visualization of somatosensory information in remote control applications.