Elastic Interaction of Particles for Robotic Tactile Simulation
This work addresses the problem of accurately simulating elastic tactile sensor behavior for robotic perception and manipulation, which is an incremental improvement over existing rigid-body models.
This paper introduces Elastic Interaction of Particles (EIP), a new framework for robotic tactile simulation that models the tactile sensor as coordinated particles and applies elastic theory to regulate deformation during contact. The method was verified on robotic perception with tactile data and 3D geometric reconstruction by tactile-visual fusion.
Tactile sensing plays an important role in robotic perception and manipulation. To overcome the real-world limitations of data collection, simulating tactile response in virtual environment comes as a desire direction of robotic research. Most existing works model the tactile sensor as a rigid multi-body, which is incapable of reflecting the elastic property of the tactile sensor as well as characterizing the fine-grained physical interaction between two objects. In this paper, we propose Elastic Interaction of Particles (EIP), a novel framework for tactile emulation. At its core, EIP models the tactile sensor as a group of coordinated particles, and the elastic theory is applied to regulate the deformation of particles during the contact process. The implementation of EIP is conducted from scratch, without resorting to any existing physics engine. Experiments to verify the effectiveness of our method have been carried out on two applications: robotic perception with tactile data and 3D geometric reconstruction by tactile-visual fusion. It is possible to open up a new vein for robotic tactile simulation, and contribute to various downstream robotic tasks.