Researchers from the University of Southern California (USC) Division of Laptop Science and NVIDIA have unveiled a brand new simulator for robotic chopping that may precisely reproduce the forces performing on a knife because it slices by way of frequent foodstuffs, corresponding to fruit and greens. The system might additionally simulate chopping by way of human tissue, providing potential purposes in surgical robotics. The paper was introduced on the Robotics: Science and Methods (RSS) Convention 2021 on July 16, the place it obtained the Finest Scholar Paper Award.
Up to now, researchers have had hassle creating intelligent robots that replicate chopping. One problem: within the real world, no two objects are the identical, and present robotic chopping programs wrestle with variation. To beat this, the crew devised a singular strategy to simulate chopping by introducing springs between the 2 halves of the article being lower, represented by a mesh. These springs are weakened over time in proportion to the drive exerted by the knife on the mesh.
“What makes ours a particular sort of simulator is that it’s ‘differentiable,’ which implies that it will possibly assist us mechanically tune these simulation parameters from real-world measurements,” mentioned lead writer Eric Heiden, a Ph.D. in pc science pupil at USC. “That is essential as a result of closing this actuality hole is a major problem for roboticists right now. With out this, robots could by no means get away of simulation into the actual world.”
To switch expertise from simulation to actuality, the simulator should be capable to mannequin an actual system. In one of many experiments, the researchers used a dataset of drive profiles from a bodily robotic to supply extremely accurate predictions of how the knife would transfer in actual life. Along with purposes within the meals processing business, the place robots might take over harmful duties like repetitive chopping, the simulator might enhance drive haptic suggestions accuracy in surgical robots, serving to to information surgeons and stop damage.
“Right here, it is very important have an correct mannequin of the chopping course of and to have the ability to realistically reproduce the forces performing on the cutting tool as completely different sorts of tissue are being lower,” mentioned Heiden. “With our strategy, we’re capable of mechanically tune our simulator to match such several types of materials and obtain extremely correct simulations of the force profile.” In ongoing analysis, the crew is making use of the system to real-world robots.
The total paper (open entry) and weblog submit can be found right here: diff-cutting-sim.github.io/
University of Southern California
New simulator helps robots sharpen their chopping expertise (2021, July 22)
retrieved 22 July 2021
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