Adaptive robotic tool use under variable grasps
Adaptive robotic tool use under variable grasps
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DOI：
10.1016/j.robot.2014.02.001
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发表时间：
2014-06-01
影响因子：
4.3
通讯作者：
Sinapov, Jivko
中科院分区：
文献类型：
--
作者：
Hoffmann, Heiko;Chen, Zhichao;Sinapov, Jivko
机器人对人类工具的成功操作将极大地促进机器人在制造和人类环境中的机器人辅助方面的合作，例如在医院、办公室和家庭中。在这些设置中，机器人需要在使用工具(例如，钻头)之前抓住它，而不是依赖于工具牢固地附着在机器人的末端执行器上。因此，当使用工具时，机器人必须考虑到手-工具界面的不确定性，因为抓取在不同的试验中会有所不同。为了应对这一挑战，我们提出了一种新的框架，其中提取了关于手掌和工具提示之间的不确定界面的控制相关参数。我们的方法允许机器人使用视觉或触觉反馈来控制工具尖端的位置和力。此外，拟议的框架允许机器人沿表面移动工具的尖端，尽管不确定工具在手中的握持方式，也不确定表面的结构。我们在两个机器人平台上演示了我们新方法的可行性：DARPA ARM机器人操作手持钻孔机和ST Robotics R17机器人用铅笔绘图。(C)2014爱思唯尔B.V.保留所有权利。
Successful robotic manipulation of human tools will greatly advance robotic collaboration with humans in manufacturing and robotic assistance in human environments, e.g., in hospitals, offices, and homes. In these settings, the robot needs to grasp a tool (e.g., a drill) before using it, rather than rely on the tool being firmly attached to the robot's end effector. Thus, when using the tool, the robot has to account for the uncertainty in the hand-tool interface, since the grasp will vary between trials. To address this challenge, we propose a new framework in which control-relevant parameters are extracted about the uncertain interface between palm and tool tip. Our approach allows a robot to control position and force at the tool tip using either visual or tactile feedback. In addition, the proposed framework allows a robot to move the tip of a tool along a surface, despite uncertainty about how the tool is held in the hand and uncertainty about the structure of the surface. We demonstrated the feasibility of our new approach on two robotic platforms: the DARPA ARM robot operating a hand-held drill and an ST Robotics R17 robot drawing with a pencil. (C) 2014 Elsevier B.V. All rights reserved.