Control of contact via tactile sensing
Control of contact via tactile sensing
复制标题
通过触觉感应控制接触
DOI：
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发表时间：
2000
期刊：
影响因子：
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通讯作者：
N. Chen
中科院分区：
文献类型：
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作者：
Hong Zhang;N. Chen
我们提出了我们的方法，使用触觉传感的机器人接触任务的反馈控制。首先介绍了一个通用的框架，称为触觉伺服。然后，我们解决的关键问题是如何建模的接触状态的条款，都足以定义一般的接触和有利于弥合机器人任务描述和触觉传感器可观察到的信息之间的差距差距。随后，我们研究技术，用于获得触觉传感器模型，所需的计算接触状态的传感器输出。介绍了两种将触觉传感器图像映射到接触状态变量的基本方法：一种基于显式逆建模，另一种基于数值触觉雅可比矩阵。在这两种情况下，触觉传感器图像的时刻被用作捕获关于接触的必要信息的特征。理论发展得到了广泛的实验支持，包括边缘跟踪，对象形状构建和对象操作。
We present our approach to using tactile sensing in the feedback control of robot contact tasks. A general framework, called tactile servo, is first introduced. We then address the critical issue of how to model the state of contact in terms that are both sufficient for defining general contacts and conducive to bridging the gap between a robot task description and the information observable by a tactile sensor. We subsequently examine techniques for deriving tactile sensor models that are required for computing the state of contact from the sensor output. Two basic methods for mapping a tactile sensor image to the contact state variables are introduced: one based on explicit inverse modeling, and the other on numerical tactile Jacobian. In both cases, moments of the tactile sensor image are used as the features that capture the necessary information about contact. The theoretical development is supported by extensive experiments, which include edge tracking, object shape construction and object manipulation.