Experimental comparison of slip detection strategies by tactile sensing with the BioTac® on the DLR hand arm system
Experimental comparison of slip detection strategies by tactile sensing with the BioTac® on the DLR hand arm system
复制标题
在 DLR 手臂系统上使用 BioTac® 进行触觉传感滑动检测策略的实验比较
DOI：
--
复制
发表时间：
2014
期刊：
影响因子：
--
通讯作者：
Maxime Chalon
中科院分区：
文献类型：
--
作者：
J. Reinecke;Alexander Dietrich;Florian Schmidt;Maxime Chalon
对日常物品的灵活操作需要精确的触觉。滑动检测对于克服不确定性和补偿外部干扰是必不可少的。我们比较了三种不同的滑动检测方法。这些方法包括通过摩擦锥进行基于模型的滑动检测、通过带通滤波进行基于振动的检测以及一种常见的学习算法。它们在一个配备两个BioTac®触觉传感器的腱驱动双指装置上得以实现和测试。进行了若干实验以评估每种方法。对这些方法的特点进行了讨论和比较。
Dexterous manipulation of everyday objects requires a precise tactile sense. Slip detection is mandatory to overcome uncertainty and compensate for external disturbances. We compare three different approaches for detecting slip. The methods are model-based slip detection via friction cones, vibration-based detection via bandpass filtering, and a common learning algorithm. They are implemented and tested on a tendon-driven two-finger setup equipped with two tactile BioTac® sensors. Several experiments are conducted to evaluate each approach. The characteristics of the methods are discussed and compared.