一个柔软的手指的生物灵感的亲感触摸与内指的动感知觉
Xiaobo Liu1,2, Xudong Han1,2, Ning Guo1,2
1Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems, Southern University of Science and Technology, Shenzhen 518055, China.
Biomimetics (Basel, Switzerland)
|October 27, 2023
概括
这项研究引入了一种具有内视和动感感应的新型软手指,用于准确的手持物体姿势估计. 这种仿生方法克服了阻塞挑战,增强了机器人操纵能力.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 计算机视觉 计算机视觉
- 生物模拟学是一种生物模拟学.
背景情况:
- 在手中的对象姿势估计对于机器人操纵至关重要,但由于手和对象的遮而受到阻碍.
- 现有的方法往往与捕捉所涉及的复杂相互作用和变形作斗争.
研究的目的:
- 开发一个柔软的手指与集成的内视和动感传感强大的手中的物体姿势估计.
- 创建一个端到端的框架,能够从原始传感器数据中估计对象的姿势和类别.
主要方法:
- 设计了一个柔软的手指,具有灵活的骨架和适应性皮肤,并结合了内部摄像头来进行视觉反.
- 在物体相互作用期间的骨变形被捕获并使用编码器处理动感信息.
- 一个端到端的神经网络处理原始图像和动感数据,以同时估计姿势和类别.
主要成果:
- 拟议的框架在七个测试对象中实现了令人印象深刻的2.02毫米和11.34度的平均姿势误差.
- 对象分类准确率达到99.05%,证明了该系统的有效性.
- 综合方法成功地解决了手持物体操纵中的遮挑战.
结论:
- 具有内视和动感感应的柔软手指为准确的手持物体姿势估计提供了有前途的解决方案.
- 这种仿生方法通过提供丰富的多模式感官反来增强机器人的抓取和操纵.
- 开发的端到端框架在姿势估计和对象识别方面都表现出高性能.
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