Electric Field Pretouch : Towards Mobile Manipulation
Electric Field Pretouch : Towards Mobile Manipulation
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电场预触摸：迈向移动操纵
DOI：
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发表时间：
2009
期刊：
影响因子：
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通讯作者：
Louis Legrand
中科院分区：
文献类型：
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作者：
Brian D. Mayton;Éric Garcia;Louis Legrand
预触感距离比接触距离长，但比视觉距离短。我们的假设是基于近距离非接触测量的闭环反馈可以提高操作的可靠性。这种反馈在移动操作和个人机器人中可能特别有用：机动性增加了机器人位置的不确定性，而额外的反馈可以克服这种不确定性。在个人机器人必须发挥作用的自然人类环境中，物体可以由人来移动。当抓取机器人的手到达目标时，它可能已经移动了。对于人与机器人的手切换，人的手通常不会完全静止，因此反馈可以帮助将机器人的手调整到人的手上。本文描述了一系列电场预触的实验，开始探索如何使用预触感测来辅助操作。
Pretouch sensing is longer range than contact, but shorter range than vision. Our hypothesis is that closed loop feedback based on short range but non-contact measurements can improve the reliability of manipulation. Such feedback may be particularly useful in mobile manipulation and personal robotics: mobility increases the robot’s position uncertainty, which the additional feedback can overcome. In natural human environments in which Personal Robots must function, objects may be moved by people. By the time the hand of a fetching robot reaches the target, it may have moved. For human to robot hand off, the human’s hand will not generally be perfectly stationary, so feedback can help aligh the robot’s hand to the human’s hand. This paper describes a series of experiments with Electric Field Pretouch that begin to explore how pretouch sensing can be used to aid manipulation.