ShapeForce: 低成本的软体机器人手腕用于接触密集的操控
ShapeForce: Low-Cost Soft Robotic Wrist for Contact-Rich Manipulation
AI总结：
ShapeForce是一种低成本软体机器人手腕，通过变形核心和标记跟踪提供力样信号，实现接触密集操控的高效反馈。
摘要：
接触反馈对于接触密集的机器人操控至关重要，因为它允许机器人检测细微的相互作用变化并相应调整其动作。六轴力矩传感器常用于获取接触反馈，但其高成本和易碎性已使许多研究人员在接触密集任务中望而却止。为了提供更经济实惠且易于获取的接触反馈源，我们提出了ShapeForce，一种低成本、即插即用的软手腕，为接触密集的机器人操控提供力样信号。受人类依赖接触中的相对力变化而非精确力大小的启发，ShapeForce将外部力和扭矩转换为其合规核心的可测量变形，然后通过基于标记的姿势跟踪进行估计，并转换为力样信号。我们的设计消除了校准或专用电子设备获取精确值的需要，而是专注于捕捉足以实现接触密集操控的力和扭矩变化。在多样化的接触密集任务和操控策略上的广泛实验表明，ShapeForce在极低成本下提供了与六轴力矩传感器相当的性能。
英文摘要：
Contact feedback is essential for contact-rich robotic manipulation, as it allows the robot to detect subtle interaction changes and adjust its actions accordingly. Six-axis force-torque sensors are commonly used to obtain contact feedback, but their high cost and fragility have discouraged many researchers from adopting them in contact-rich tasks. To offer a more cost-efficient and easy-accessible source of contact feedback, we present ShapeForce, a low-cost, plug-and-play soft wrist that provides force-like signals for contact-rich robotic manipulation. Inspired by how humans rely on relative force changes in contact rather than precise force magnitudes, ShapeForce converts external force and torque into measurable deformations of its compliant core, which are then estimated via marker-based pose tracking and converted into force-like signals. Our design eliminates the need for calibration or specialized electronics to obtain exact values, and instead focuses on capturing force and torque changes sufficient for enabling contact-rich manipulation. Extensive experiments across diverse contact-rich tasks and manipulation policies demonstrate that ShapeForce delivers performance comparable to six-axis force-torque sensors at an extremely low cost.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
