From Visual Understanding to Complex Object Manipulation
From Visual Understanding to Complex Object Manipulation
复制标题
从视觉理解到复杂对象操作
DOI：
10.1146/annurev-control-053018-023735
复制
发表时间：
2019
期刊：
影响因子：
--
通讯作者：
D. Kragic
中科院分区：
文献类型：
--
作者：
Judith Bütepage;S. Cruciani;Mia Kokic;Michael C. Welle;D. Kragic
规划和执行对象操作需要整合多个感觉和运动通道，同时在不确定性下行动并遵守任务约束。由于现代环境是为人类的双手而调整的，设计具有类似操纵能力的机器人系统至关重要。对机器人对象操作的研究被分成较小的社区，例如，运动规划、抓握规划、感觉运动学习和工具使用。然而，很少有人尝试将这些领域联合收割机结合成整体系统。在这篇综述中，我们的目标是统一的基本力学的把握和手操纵的时间方面的操作，包括视觉感知，把握规划和执行，目标导向的操作。受人类操纵的启发，我们设想，强调这些过程的时间整合为机器人使用类似人类的物体开辟了道路。
Planning and executing object manipulation requires integrating multiple sensory and motor channels while acting under uncertainty and complying with task constraints. As the modern environment is tuned for human hands, designing robotic systems with similar manipulative capabilities is crucial. Research on robotic object manipulation is divided into smaller communities interested in, e.g., motion planning, grasp planning, sensorimotor learning, and tool use. However, few attempts have been made to combine these areas into holistic systems. In this review, we aim to unify the underlying mechanics of grasping and in-hand manipulation by focusing on the temporal aspects of manipulation, including visual perception, grasp planning and execution, and goal-directed manipulation. Inspired by human manipulation, we envision that an emphasis on the temporal integration of these processes opens the way for human-like object use by robots.