GLoTouch: 並列グリッパによるグローバル・トゥ・ローカルな触覚知覚で外部視覚なしに物体探索・認識・把持を実現
GLoTouch: Global-to-Local Haptic Perception Using a Parallel Gripper for Object Search, Recognition, and Grasping Without External Vision
並列グリッパに長尺プローブと視触覚センサを組み合わせ、暗所でも触覚のみで容器内の物体探索から形状認識・把持までを行う枠組みを提案した。
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著者: Zonglin Li, Wanruo Zhang, Yiming Wang, Kun Song, Xinyi Zhou, Daolin Ma
分類: cs.RO
原文アブストラクト
Perceiving objects in the environment is a fundamental capability of autonomous robots. In dark or low-light environments, external cameras often fail to reliably perceive object positions and geometry; when visual sensing is unavailable, completing target search, recognition, and grasping through touch alone becomes a key robot manipulation capability. This task must simultaneously address container-scale spatial exploration and object-scale fine-grained geometric perception, which is particularly challenging for low-degree-of-freedom parallel grippers. However, a unified framework remains lacking for connecting container-scale spatial exploration with object-scale fine-grained geometric perception and grasping. To address this challenge, we present \textbf{GLoTouch}, a global-to-local haptic perception and manipulation framework built on a parallel gripper. In the global stage, the gripper holds a passive long-reach probe, combining force measurements with known tool geometry to localize contacts and actively estimate candidate-object positions, coarse contours, and heights. In the local stage, the robot sets down the probe and uses the bilateral visuotactile sensors on the same gripper to directly acquire local haptic observations, which are matched against a given target 3-D model without object-specific training. We evaluate the framework in both simulation and real-robot experiments. Source code will be open-sourced.