What can be inferred from a tactile arrayed sensor in autonomous in-hand manipulation?
What can be inferred from a tactile arrayed sensor in autonomous in-hand manipulation?
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DOI：
10.1109/coase.2012.6386384
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发表时间：
2012-12
期刊：
影响因子：
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通讯作者：
V. A. Ho;T. Nagatani;A. Noda;S. Hirai
中科院分区：
文献类型：
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作者：
V. A. Ho;T. Nagatani;A. Noda;S. Hirai
在本文中，我们提出了一个概念，即在机器人手持操作任务中，使用触觉传感器作为定位和识别对象的充分工具。我们的方法是对中等强度的阵列数据进行操作，这些数据是从机器人抓取器抓取相对于手指较小的对象时从触觉传感器获得的。我们不使用触觉数据作为离散数字的数组，而是将其视为灰度图像。通过利用图像处理工具处理来自触觉传感器的连续图像，我们能够提取关于物体与夹持器之间的接触条件的丰富信息。实验结果表明，从处理后的数据可以了解被抓取物体的位置/姿态、接触形状，特别是首次推导出了该传感器在接触面上的粘滑条件。基于滑动软物体的局部化位移现象，提出了一种滑移量的定量检测方法，并根据物体的运动特征进行了大量的实验。我们还建立了具有触觉反馈的物体抓取抓手的模型，并建立了相应的实验装置来验证计算结果。由于结果的简单性和可靠性，有望在社会上得到广泛应用。
In this paper, we present a concept of using tactile sensors as sufficient tools in localizing, recognizing an object in robotic in-hand manipulation tasks. Our approach operates on a moderately intensive array data that are obtained from a tactile sensor when a robotic gripper grasps an object that is small relatively to fingers. In stead of using tactile data as an array of discrete numbers, we treat it as a grayscale image. By working with successive images from tactile sensor exploiting image processing tools, we are able to extract rich information about the contact condition between an object and the gripper. Experimental results show that from the processed data, we can realize the grasped object's position/orientation, contact shape, especially the stick-slip condition on the contact surface that is derived for the first time for this sensor. Based on localized displacement phenomenon of a sliding soft object, we proposed an approach to detect the slippage quantitatively, and conducted a wide range of experiment in term of characteristics of object's movement. We also conducted a model for an object-grasping gripper with tactile feedback in various postures of the object, and a corresponding experiment setup to validate computed results. Presented result is expected to be used widely in the community due to its simplicity and reliability.