Tacchi 2.0: A Low Computational Cost and Comprehensive Dynamic Contact Simulator for Vision-based Tactile Sensors
Journal:
arXiv
Published Date:
Mar 12, 2025
Abstract
With the development of robotics technology, some tactile sensors, such as
vision-based sensors, have been applied to contact-rich robotics tasks.
However, the durability of vision-based tactile sensors significantly increases
the cost of tactile information acquisition. Utilizing simulation to generate
tactile data has emerged as a reliable approach to address this issue. While
data-driven methods for tactile data generation lack robustness, finite element
methods (FEM) based approaches require significant computational costs. To
address these issues, we integrated a pinhole camera model into the low
computational cost vision-based tactile simulator Tacchi that used the Material
Point Method (MPM) as the simulated method, completing the simulation of marker
motion images. We upgraded Tacchi and introduced Tacchi 2.0. This simulator can
simulate tactile images, marked motion images, and joint images under different
motion states like pressing, slipping, and rotating. Experimental results
demonstrate the reliability of our method and its robustness across various
vision-based tactile sensors.
