论文标题
机器人的面团塑形
Robotic Dough Shaping
论文作者
论文摘要
机器人对可变形物体的操纵由于其广泛的应用，包括医疗手术，家庭援助和自动食品准备，因此引起了极大的关注。由于难以在数学上定义问题，因此变形软体物体的能力仍然是机器人的巨大挑战。在本文中，我们解决了将一块像面团样的变形材料塑造成预先提出的2D目标形状的问题。我们使用配备有滚动销和从RGB-D摄像头和触觉传感器收集的信息的6自由寡妇250机器人臂。我们在三种可变形材料和三种目标面团形状大小上进行了广泛的实验，介绍并比较了几种控制策略，包括面团收缩的作用，实现了0.90的联合（IOU）的交集。我们的结果表明：i）从最高面团的滚动面团比2D/3D面团质心更有效； ii）最好停止在当前面团边界的滚动运动，而不是目标形状轮廓； iii）只有根据扩展作用进行适当调整，收缩动作才可能是有益的； iv）与塑料或动态砂相比，Play-DOH材料更容易形成目标形状。我们的工作的视频演示可在https://youtu.be/zzlmxuitdt4上获得
Robotic manipulation of deformable objects gains great attention due to its wide applications including medical surgery, home assistance, and automatic food preparation. The ability to deform soft objects remains a great challenge for robots due to difficulties in defining the problem mathematically. In this paper, we address the problem of shaping a piece of dough-like deformable material into a 2D target shape presented upfront. We use a 6 degree-of-freedom WidowX-250 Robot Arm equipped with a rolling pin and information collected from an RGB-D camera and a tactile sensor. We present and compare several control policies, including a dough shrinking action, in extensive experiments across three kinds of deformable materials and across three target dough shape sizes, achieving the intersection over union (IoU) of 0.90. Our results show that: i) rolling dough from the highest dough point is more efficient than from the 2D/3D dough centroid; ii) it might be better to stop the roll movement at the current dough boundary as opposed to the target shape outline; iii) the shrink action might be beneficial only if properly tuned with respect to the expand action; and iv) the Play-Doh material is easier to shape to a target shape as compared to Plasticine or Kinetic sand. Video demonstrations of our work are available at https://youtu.be/ZzLMxuITdt4
