TacSpin: 軸と大きさの推定によるグリッパ内物体回転のSO(3)上での触覚追跡
TacSpin: Tactile Tracking of In-Gripper Object Rotation on SO(3) via Axis-Magnitude Estimation
2つの視覚ベース触覚センサのみを用いて、グリッパ内での物体回転をSO(3)上で追跡する手法を提案。回転の軸と大きさを分離して推定し、接触境界の手がかりで各指の応答を補正し、2指の一致度に基づいて融合する。
著者: Yuhao Wu, Linhao Song, Huan Yin
分類: cs.RO
原文アブストラクト
Tracking object motion within a gripper provides essential feedback for robotic manipulation. However, limited contact coverage and uneven deformation make tactile estimation challenging. In this study, we present TacSpin, a method that tracks in-gripper object rotation on SO(3) using only two vision-based tactile sensors. The key idea is to estimate the axis and magnitude of the rotation response separately, rather than fitting a rigid-body model by least squares. Each finger's response is further refined with contact-boundary cues. The two fingers are then fused according to their agreement. On standard objects, TacSpin achieves lower mean checkpoint errors. Qualitative demonstrations on real-world objects, using calibration transferred from a standard sphere, illustrate tracking under different contact geometries.