Robust and Perceptive Manipulation Through Soft-Bubble Grippers and Monocular Depth

摘要

A deformable sensor comprises an enclosure comprising a deformable membrane, the enclosure configured to be filled with a medium, and an imaging sensor, disposed within the enclosure, having a field of view configured to be directed toward a bottom surface of the deformable membrane. The imaging sensor is configured to capture an image of the deformable membrane. The deformable sensor is configured to determine depth values for a plurality of points on the deformable membrane based on the image captured by the imaging sensor and a trained neural network.