Semi-Supervised Disentanglement of Tactile Contact Geometry from Sliding-Induced Shear

08/26/2022
by   Anupam K. Gupta, et al.
0

The sense of touch is fundamental to human dexterity. When mimicked in robotic touch, particularly by use of soft optical tactile sensors, it suffers from distortion due to motion-dependent shear. This complicates tactile tasks like shape reconstruction and exploration that require information about contact geometry. In this work, we pursue a semi-supervised approach to remove shear while preserving contact-only information. We validate our approach by showing a match between the model-generated unsheared images with their counterparts from vertically tapping onto the object. The model-generated unsheared images give faithful reconstruction of contact-geometry otherwise masked by shear, along with robust estimation of object pose then used for sliding exploration and full reconstruction of several planar shapes. We show that our semi-supervised approach achieves comparable performance to its fully supervised counterpart across all validation tasks with an order of magnitude less supervision. The semi-supervised method is thus more computational and labeled sample-efficient. We expect it will have broad applicability to wide range of complex tactile exploration and manipulation tasks performed via a shear-sensitive sense of touch.

READ FULL TEXT

page 2

page 3

page 6

research
09/08/2021

Tactile Image-to-Image Disentanglement of Contact Geometry from Motion-Induced Shear

Robotic touch, particularly when using soft optical tactile sensors, suf...
research
05/02/2019

Shear-invariant Sliding Contact Perception with a Soft Tactile Sensor

Manipulation tasks often require robots to be continuously in contact wi...
research
04/20/2021

Tactile Perception based on Injected Vibration in Soft Sensor

Tactile perception using vibration sensation helps robots recognize thei...
research
11/13/2020

Tactile SLAM: Real-time inference of shape and pose from planar pushing

Tactile perception is central to robot manipulation in unstructured envi...
research
02/05/2021

Towards integrated tactile sensorimotor control in anthropomorphic soft robotic hands

In this work, we report on the integrated sensorimotor control of the Pi...
research
03/04/2020

Optimal Deep Learning for Robot Touch

This article illustrates the application of deep learning to robot touch...
research
07/20/2021

Active 3D Shape Reconstruction from Vision and Touch

Humans build 3D understandings of the world through active object explor...

Please sign up or login with your details

Forgot password? Click here to reset