Digger Finger: GelSight Tactile Sensor for Object Identification Inside Granular Media
Digger Finger: GelSight Tactile Sensor for Object Identification Inside Granular Media
复制标题
Digger Finger：GelSight 触觉传感器，用于识别颗粒介质内的物体
DOI：
10.1007/978-3-030-71151-1_10
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发表时间：
2021
期刊：
影响因子：
--
通讯作者：
E. Adelson
中科院分区：
文献类型：
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作者：
Radhen Patel;Rui Ouyang;Branden Romero;E. Adelson
在本文中，我们提出了一个早期的原型的挖掘手指，旨在轻松穿透颗粒介质，并配备了GelSight传感器。使用触觉传感器识别埋在颗粒介质中的物体是一项具有挑战性的任务。首先，颗粒介质中的颗粒堵塞阻止向下运动。第二，粒状介质颗粒倾向于卡在感测表面和感兴趣的对象之间，从而扭曲对象的实际形状。为了解决这些挑战，我们提出了一个挖掘手指原型。它能够在穿透过程中使用机械振动流化颗粒介质。它配备了基于高分辨率视觉的触觉传感，以识别埋在颗粒状介质中的物体。我们描述了我们用来评估这些流化和掩埋形状识别能力的实验程序。具有这种手指的机器人可以执行爆炸物处理和简易爆炸装置（IED）探测任务，与地面穿透雷达（GPR）等技术相比，分辨率要高得多。像Digger Finger这样的传感器将使机器人操纵研究超越仅仅操纵刚性物体。
In this paper we present an early prototype of the Digger Finger that is designed to easily penetrate granular media and is equipped with the GelSight sensor. Identifying objects buried in granular media using tactile sensors is a challenging task. First, particle jamming in granular media prevents downward movement. Second, the granular media particles tend to get stuck between the sensing surface and the object of interest, distorting the actual shape of the object. To tackle these challenges we present a Digger Finger prototype. It is capable of fluidizing granular media during penetration using mechanical vibrations. It is equipped with high resolution vision based tactile sensing to identify objects buried inside granular media. We describe the experimental procedures we use to evaluate these fluidizing and buried shape recognition capabilities. A robot with such fingers can perform explosive ordnance disposal and Improvised Explosive Device (IED) detection tasks at a much a finer resolution compared to techniques like Ground Penetration Radars (GPRs). Sensors like the Digger Finger will allow robotic manipulation research to move beyond only manipulating rigid objects.