A Comprehensive Realization of Robot Skin: Sensors, Sensing, Control, and Applications
A Comprehensive Realization of Robot Skin: Sensors, Sensing, Control, and Applications
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DOI：
10.1109/jproc.2019.2933348
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发表时间：
2019-10-01
影响因子：
20.6
通讯作者：
Mittendorfer, Philipp
中科院分区：
文献类型：
--
作者：
Cheng, Gordon;Dean-Leon, Emmanuel;Mittendorfer, Philipp
本文介绍了机器人人造机器人皮肤工程的整体方法。给出了多模态皮肤细胞的示例，该细胞支持多种类人传感模态，并且还提供了对皮肤细胞网络的支持；这对于形成大面积的皮肤斑块以覆盖机器人的表面至关重要。解释了有效处理大量触觉数据的基本要素。提供并验证了一个通用控制框架，该框架支持机器人的位置、速度和扭矩命令。我们将介绍这种机器人皮肤的几种应用，展示我们的人造机器人皮肤支持多种机器人平台的有效性和效率，以及它在不同领域的易用性。
This article presents a holistic approach to the engineering of an artificial robot skin for robots. An example of a multimodal skin cell is given, one that supports multiple human-like sensing modalities, and support for skin cell network is also provided; this is essential to form large-area skin patches in order to cover the surfaces of robots. The essential elements of efficiently handling a large amount of tactile data are explained. A general control framework, which supports robots commanded in position, velocity, and torque, is provided and validated. Several applications of this robot skin will be presented, demonstrating the effectiveness and efficiency of our artificial robot skin to support a wide number of robotic platforms as well as its ease of use across different domains.