柔軟ロボットハンドにおける触覚と運動制御の統合
Towards integrated tactile sensorimotor control in anthropomorphic soft robotic hands
ピサ/IITソフトハンドに光学式触覚センサTacTipを組み込み、未知物体への軽接触の閉ループ制御と把持物体のエッジ姿勢制御を実現した研究。
著者: Nathan F. Lepora, Andrew Stinchcombe, Chris Ford, Alfred Brown, John Lloyd, Manuel G. Catalano, Matteo Bianchi, Benjamin Ward-Cherrier
分類: cs.RO
原文アブストラクト
In this work, we report on the integrated sensorimotor control of the Pisa/IIT SoftHand, an anthropomorphic soft robot hand designed around the principle of adaptive synergies, with the BRL tactile fingertip (TacTip), a soft biomimetic optical tactile sensor based on the human sense of touch. Our focus is how a sense of touch can be used to control an anthropomorphic hand with one degree of actuation, based on an integration that respects the hand's mechanical functionality. We consider: (i) closed-loop tactile control to establish a light contact on an unknown held object, based on the structural similarity with an undeformed tactile image; and (ii) controlling the estimated pose of an edge feature of a held object, using a convolutional neural network approach developed for controlling other sensors in the TacTip family. Overall, this gives a foundation to endow soft robotic hands with human-like touch, with implications for autonomous grasping, manipulation, human-robot interaction and prosthetics. Supplemental video: https://youtu.be/ndsxj659bkQ
