Tactile Sensing
Tactile Sensing
复制标题
触觉传感
DOI：
10.1007/978-94-007-7194-9_110-1
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发表时间：
2018
期刊：
影响因子：
--
通讯作者：
G. Cannata
中科院分区：
文献类型：
--
作者：
L. Natale;G. Cannata
触觉感知的研究一直在不断发展。在机器人技术中，触觉传感通常是在物体抓取和操作的背景下研究的。在这一领域，用于机械人手的鲁棒、多模态触觉传感器的发展为手部物体操作、材料分类和物体感知的新算法研究提供了支持。在类人机器人领域，研究的重点是解决开发可覆盖机器人身体大面积的触觉传感器系统的挑战，并可以集成不同类型的传感器来测量不同频段的压力，加速度和温度。这些系统的可用性将触觉传感的应用扩展到全身控制、自主校准、自我感知和人机交互。本章的目标是提供触觉传感技术的概述，特别强调已经部署在人形机器人上的系统。我们描述了通过采用这些技术已经实现的技能，并讨论了仍然需要解决的主要挑战。
Research on tactile sensing has been progressing at constant pace. In robotics, tactile sensing is typically studied in the context of object grasping and manipulation. In this domain, the development of robust, multi-modal, tactile sensors for robotic hands has supported the study of novel algorithms for in-hand object manipulation, material classification and object perception. In the field of humanoid robotics, research has focused on solving the challenges that allow developing systems of tactile sensors that can cover large areas of the robot body, and can integrate different types of transducers to measure pressure at various frequency bands, acceleration and temperature. The availability of such systems has extended the application of tactile sensing to whole-body control, autonomous calibration, self-perception and human-robot interaction. The goal of this Chapter is to provide an overview of the technologies for tactile sensing, with particular emphasis on the systems that have been deployed on humanoid robots. We describe the skills that have been implemented with the adoption of these technologies and discuss the main challenges that remain to be addressed.