6D proximity servoing for preshaping and haptic exploration using capacitive tactile proximity sensors
6D proximity servoing for preshaping and haptic exploration using capacitive tactile proximity sensors
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DOI：
10.1109/iros.2014.6942533
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发表时间：
2014-11
期刊：
影响因子：
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通讯作者：
S. E. Navarro;Martin Schonert;B. Hein;H. Wörn
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文献类型：
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作者：
S. E. Navarro;Martin Schonert;B. Hein;H. Wörn
在本文中，我们介绍了机器人系统的应用，该系统的夹具配备了分布式电容式触觉接近传感器（CTPS）。首先，我们介绍并评估一种闭环控制方案，通过该方案可以仅使用接近值将夹具与环境的物体或特征对齐。我们将这种控制方法称为接近伺服。它是通过平衡传感器信号来实现的，从而在物体姿态的所有 6DOF 中产生稳健的预成形。然后可以在几乎没有位移的情况下抓取物体。其次，同样基于接近伺服，我们演示并评估了结合触觉和基于接近的探索的新想法。无需外部摄像头的任何提示，系统就能够检测和探索物体的曲率、边缘或角落等特征。研究还表明，触觉和接近探索步骤可以互补使用，以提高探索效率，同时提供准确的物体测量。
In this paper we present applications for a robot system whose gripper is equipped with distributed capacitive tactile proximity sensors (CTPS). Firstly, we introduce and evaluate a closed loop control scheme by which it is possible to align the gripper to objects or features of the environment using proximity values alone. We call this control method proximity servoing. It is implemented by equilibrating the sensor signals, resulting in a robust preshape in all 6DOF of the object pose. Objects can then be grasped with virtually no displacement. Secondly, also based on proximity servoing, we demonstrate and evaluate novel ideas for combined haptic and proximity-based exploration. Without any cues from an external camera the system is capable of detecting and exploring features such as curvatures, edges or corners of objects. It is also shown that tactile and proximity exploration steps can be used complementarily to increase efficiency in exploration while delivering accurate object measurements.