Pre-touch sensing for sequential manipulation
Pre-touch sensing for sequential manipulation
复制标题
用于顺序操作的预触摸感应
DOI：
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发表时间：
2017
期刊：
影响因子：
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通讯作者：
Joshua R. Smith
中科院分区：
文献类型：
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作者：
Boling Yang;Patrick E. Lancaster;Joshua R. Smith
这项工作的主要重点是研究机器人如何通过使用预触摸传感器来实现更强大的顺序操作。近距离接近传感的实用性通过机器人系统进行评估，该系统使用新型光学飞行时间预触摸传感器来完成高精度和连续的任务 - 解魔方。然后，该任务中使用的技术被扩展到一个更通用的框架，其中 ICP 用于将触摸前数据与参考模型进行匹配，证明即使是简单的触摸前扫描也可以用于恢复需要顺序操作的常见物体的姿势。
The primary focus of this work is to examine how robots can achieve more robust sequential manipulation through the use of pre-touch sensors. The utility of close-range proximity sensing is evaluated through a robotic system that uses a new optical time-of-flight pre-touch sensor to complete a highly precise and sequential task — solving the Rubik's cube. The techniques used in this task are then extended to a more general framework in which ICP is used to match pre-touch data to a reference model, demonstrating that even simple pre-touch scans can be used to recover the pose of common objects that require sequential manipulation.