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3D edge reconstruction method based on tactile sensing and servo
- Chinese Journal of Intelligent Science and Technology Vol. 4, Issue 2, Pages: 233-245(2022)
- 作者机构：
1. 中国科学院自动化研究所复杂系统管理与控制国家重点实验室，北京 100190
2. 中国科学院大学未来技术学院，北京 100049
3. 中国科学院大学人工智能学院，北京 100049
4. 中国科学院脑科学与智能技术卓越创新中心，上海 200031
- 作者简介：
- 基金信息：
DOI：10.11959/j.issn.2096-6652.202226
CLC： TP242.6-
Published Online：2022-06，
Published：15 June 2022
- 稿件说明：
移动端阅览
Jingyi HU, Shaowei CUI, Chaofan ZHANG, et al. 3D edge reconstruction method based on tactile sensing and servo[J]. Chinese journal of intelligent science and technology, 2022, 4(2): 233-245.
Jingyi HU, Shaowei CUI, Chaofan ZHANG, et al. 3D edge reconstruction method based on tactile sensing and servo[J]. Chinese journal of intelligent science and technology, 2022, 4(2): 233-245. DOI： 10.11959/j.issn.2096-6652.202226.
摘要
机器人的灵巧操作一直是机器人领域研究的前沿热点问题。在很多灵巧操作任务中，机器人不仅需要视觉反馈，指尖的触觉反馈也至关重要，尤其是在光照条件不佳等情况下。目前，利用触觉伺服对物体进行三维形状感知的工作仍然非常具有挑战性。平面的GelSight触觉传感器并不适用于对物体进行三维形状的感知。因此，对GelSight触觉传感器设计进行了改进，使其更适用于获取三维物体边缘信息。同时，提出一种基于触觉伺服的物体边缘跟踪控制策略和基于触觉点云的物体三维边缘重建方法，以支持机器人的三维物体灵巧操作策略生成。针对多种复杂三维边缘模型，通过机器人的触觉伺服跟踪和三维边缘重建实验验证了所提方法的有效性。
Abstract
The dexterous manipulation of robots has always been a hot topic in the field of robotics.In many dexterous manipulation tasks
robots need not only visual feedback
but also tactile feedback at the fingertips
especially in poor lighting conditions.Currently
3D shape sensing of objects using tactile servo is still very challenging.The flat GelSight tactile sensors are not suitable for 3D shape sensing of objects.Therefore
the design of GelSight tactile sensor was improved to make it more suitable for the acquisition of edge information of 3D objects.At the same time
an object edge tracking control strategy based on tactile servo and a 3D object edge reconstruction method based on tactile point cloud were proposed to support the generation of dexterous manipulation strategies for robots.For a variety of complex 3D edge models
the effectiveness of the proposed method was verified by the tactile servo tracking and 3D edge reconstruction experiments.
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references
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