Force Map: Learning to Predict Contact Force Distribution from Vision
Ryo Hanai,Yukiyasu Domae,Ixchel G. Ramirez-Alpizar,Bruno Leme,Tetsuya Ogata,Ryo Hanai,Yukiyasu Domae,Ixchel G. Ramirez-Alpizar,Bruno Leme,Tetsuya Ogata
When humans see a scene, they can roughly imagine the forces applied to objects based on their expe-rience and use them to handle the objects properly. This paper considers transferring this “force-visualization” ability to robots. We hypothesize that a rough force distribution (named “force map”) can be utilized for object manipulation strategies even if accurate force estimation is impossible. B...