A Model of Ant Grasping Behaviour
A Model of Ant Grasping Behaviour
复制标题
DOI：
10.1109/robio58561.2023.10354722
复制
发表时间：
2023-12
期刊：
影响因子：
--
通讯作者：
Persie Rolley-Parnell;Barbara Webb
中科院分区：
文献类型：
--
作者：
Persie Rolley-Parnell;Barbara Webb
蚂蚁用它们的触角作为触觉探针来感知它们的环境，然后用它们的口器对各种各样的新物体执行抓握。在这项工作中，我们定义运动学和运动约束，以创建一个简化的蚂蚁模型，这是用来评估不同的假设方法，触觉探测和把握合成和识别似是而非的描述符真实的蚂蚁行为。使用这个模型，我们比较了几种方法，获得触觉数据，并从这个收集的数据的无模型把握合成。我们评估每个组合，根据几个措施的把握质量，和相对成本执行机器人上的每个行为。使用基于PCA的抓取合成方法获得最佳结果，并且如果先前的接触点影响未来探测位置的选择，则这在各种形状中是最鲁棒的。
Ants use their antennae as tactile probes to sense their environment, then execute grasps using their mouth-parts on a variety of novel objects. In this work, we define kinematic and motion constraints to create a simplified ant model, which is used to evaluate different hypothetical approaches to tactile probing and grasp synthesis and identify plausible descriptors for real ant behaviour. Using this model, we compare several methods for obtaining tactile data, and for model-free grasp synthesis from this gathered data. We evaluate each combination according to several measures of grasp quality, and the relative cost to execute each behaviour on the robot. The best results are obtained using a PCA-based grasp synthesis method and this is most robust across various shapes if previous contact points influence the selection of future locations to probe.