An Electric Field Pretouch system for grasping and co-manipulation
An Electric Field Pretouch system for grasping and co-manipulation
复制标题
用于抓取和协同操作的电场预触摸系统
DOI：
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发表时间：
2010
期刊：
影响因子：
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通讯作者：
Joshua R. Smith
中科院分区：
文献类型：
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作者：
Brian D. Mayton;Louis Legrand;Joshua R. Smith
预触感距离比接触距离长，但比视觉距离短。激励这项工作的假设是基于短程非接触测量的闭环反馈可以提高操作的可靠性。提出了一种基于电场预触控的近距离抓取系统。我们描述两组实验。第一组实验涉及人对机器人和机器人对人的切换，包括使用EF Pretouch来检测人类是否也在触摸机器人拿着的物体，我们称之为“协同操作状态”。在第二组实验中，机器人拿起独立的物体。我们描述了一些伺服手臂和手指的技术，以便收集相关的几何信息，并实际执行操作任务。
Pretouch sensing is longer range than contact, but shorter range than vision. The hypothesis motivating this work is that closed loop feedback based on short range but non-contact measurements can improve the reliability of manipulation. This paper presents a grasping system that is guided at short range by Electric Field (EF) Pretouch. We describe two sets of experiments. The first set of experiments involves human-to-robot and robot-to-human handoff, including the use of EF Pretouch to detect whether or not a human is also touching an object that the robot is holding, which we call the “co-manipulation state.” In the second set of experiments, the robot picks up standalone objects. We describe a number of techniques that servo the arm and fingers in order to both collect relevant geometrical information, and to actually perform the manipulation task.