ロボットマニピュレータ上の接触位置推定のためのひげに着想を得た触覚センシング
Whisker-Inspired Tactile Sensing for Contact Localization on Robot Manipulators
ロボットマニピュレータ表面に取り付けたひげ型触覚センサを設計・モデル化し、ベイズフィルタリングにより接触点をサブミリ精度で推定する手法を提案した。
著者: Michael A. Lin, Emilio Reyes, Jeannette Bohg, Mark R. Cutkosky
分類: cs.RO
原文アブストラクト
Perceiving the environment through touch is important for robots to reach in cluttered environments, but devising a way to sense without disturbing objects is challenging. This work presents the design and modelling of whisker-inspired sensors that attach to the surface of a robot manipulator to sense its surrounding through light contacts. We obtain a sensor model using a calibration process that applies to straight and curved whiskers. We then propose a sensing algorithm using Bayesian filtering to localize contact points. The algorithm combines the accurate proprioceptive sensing of the robot and sensor readings from the deflections of the whiskers. Our results show that our algorithm is able to track contact points with sub-millimeter accuracy, outperforming a baseline method. Finally, we demonstrate our sensor and perception method in a real-world system where a robot moves in between free-standing objects and uses the whisker sensors to track contacts tracing object contours.
