ロボットに人間のような触覚をもたらすリスニングスキル(Listening Skills Bring Human-Like Touch to Robots)

2024-10-22 デューク大学(Duke)

＜関連情報＞

• https://pratt.duke.edu/news/sonicsense-robotic-hand/
• https://arxiv.org/abs/2406.17932

ソニックセンス：手の中の音響振動から物体を知覚する SonicSense: Object Perception from In-Hand Acoustic Vibration

Jiaxun Liu, Boyuan Chen
arXiv  last revised: 3 Oct 2024 (this version, v2)
DOI:https://doi.org/10.48550/arXiv.2406.17932

Abstract

We introduce SonicSense, a holistic design of hardware and software to enable rich robot object perception through in-hand acoustic vibration sensing. While previous studies have shown promising results with acoustic sensing for object perception, current solutions are constrained to a handful of objects with simple geometries and homogeneous materials, single-finger sensing, and mixing training and testing on the same objects. SonicSense enables container inventory status differentiation, heterogeneous material prediction, 3D shape reconstruction, and object re-identification from a diverse set of 83 real-world objects. Our system employs a simple but effective heuristic exploration policy to interact with the objects as well as end-to-end learning-based algorithms to fuse vibration signals to infer object properties. Our framework underscores the significance of in-hand acoustic vibration sensing in advancing robot tactile perception.