DIGIT: A Novel Design for a Low-Cost Compact High-Resolution Tactile Sensor with Application to In-Hand Manipulation

Autor:	Lambeta, Mike, Chou, Po-Wei, Tian, Stephen, Yang, Brian, Maloon, Benjamin, Most, Victoria Rose, Stroud, Dave, Santos, Raymond, Byagowi, Ahmad, Kammerer, Gregg, Jayaraman, Dinesh, Calandra, Roberto
Rok vydání:	2020
Předmět:	Computer Science - Robotics Computer Science - Machine Learning Electrical Engineering and Systems Science - Systems and Control Statistics - Machine Learning
Druh dokumentu:	Working Paper
DOI:	10.1109/LRA.2020.2977257
Popis:	Despite decades of research, general purpose in-hand manipulation remains one of the unsolved challenges of robotics. One of the contributing factors that limit current robotic manipulation systems is the difficulty of precisely sensing contact forces -- sensing and reasoning about contact forces are crucial to accurately control interactions with the environment. As a step towards enabling better robotic manipulation, we introduce DIGIT, an inexpensive, compact, and high-resolution tactile sensor geared towards in-hand manipulation. DIGIT improves upon past vision-based tactile sensors by miniaturizing the form factor to be mountable on multi-fingered hands, and by providing several design improvements that result in an easier, more repeatable manufacturing process, and enhanced reliability. We demonstrate the capabilities of the DIGIT sensor by training deep neural network model-based controllers to manipulate glass marbles in-hand with a multi-finger robotic hand. To provide the robotic community access to reliable and low-cost tactile sensors, we open-source the DIGIT design at https://digit.ml/. Comment: 8 pages, published in the IEEE Robotics and Automation Letters (RA-L)
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2005.14679 Zobrazit plný text záznamu View this record from Arxiv