A Local Filtering Technique for Robot Skin Data
A Local Filtering Technique for Robot Skin Data
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DOI：
10.1109/lra.2021.3098457
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发表时间：
2021-10
影响因子：
5.2
通讯作者：
A. Albini;G. Cannata;P. Maiolino
中科院分区：
文献类型：
--
作者：
A. Albini;G. Cannata;P. Maiolino
触觉数据处理算法严重依赖于代表接触压力分布的触觉图像的生成。这种方法可以利用现有的图像处理算法，但需要在平面上集成触觉元素。机器人皮肤技术引入了与触觉元素的非规则分布和它们集成的非平面表面相关的挑战。在这封信中，我们提出了一种解决这些挑战的方法，即开发一种直接适用于大面积触觉传感系统的局部滤波技术。所提出的滤波器可以处理接触分布，而不需要在生成触觉图像的典型方法中所需的中间步骤。我们特别关注滤波器的设计，以检测接触分布的急剧变化，即边缘。该方法在一个机器人的平面轮廓跟踪任务中得到了验证，该机器人配备了两种不同的末端执行器（平面和非平面），并采用大面积触觉传感技术进行了传感。已经进行了额外的实验来评估基于触觉图像的数据处理技术的优势和局限性。
Algorithms for tactile data processing heavily rely on the generation of tactile images representing the contact pressure distribution. This approach allows to exploit existing algorithms for image processing, but requires the integration of the tactile elements on a flat surface. Robot skin technologies introduce challenges related to the non-regular distribution of the tactile elements and the non-planar surface over which they are integrated. In this letter, we present a method to address these challenges by developing a local filtering technique directly applicable on large-area tactile sensing systems. The proposed filter can process the contact distribution without the need of intermediate steps that are required in the typical method of generating a tactile image. We particularly focus on the design of a filter to detect sharp variations in the contact distribution, i.e. edges. The approach is validated in a task of planar contour following performed using a robot equipped with two different end-effectors (planar and non-planar) sensorized with large-area tactile sensing technology. Additional experiments have been performed to evaluate strengths and limitations of the proposed approach with respect to tactile image-based data processing techniques.