Elastic Interaction of Particles for Robotic Tactile Simulation

Understand

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.