触覚駆動による人間とロボットの協調作業のための優しい把持
Tactile-Driven Gentle Grasping for Human-Robot Collaborative Tasks
5本の指先に光学式触覚センサTacTipを搭載したソフトハンドで、触覚フィードバックを用いて様々な物体を優しく安定に把持する制御器を開発し、人からロボットへの受け渡しタスクに応用した。
著者: Christopher J. Ford, Haoran Li, John Lloyd, Manuel G. Catalano, Matteo Bianchi, Efi Psomopoulou, Nathan F. Lepora
分類: cs.RO
原文アブストラクト
This paper presents a control scheme for force sensitive, gentle grasping with a Pisa/IIT anthropomorphic SoftHand equipped with a miniaturised version of the TacTip optical tactile sensor on all five fingertips. The tactile sensors provide high-resolution information about a grasp and how the fingers interact with held objects. We first describe a series of hardware developments for performing asynchronous sensor data acquisition and processing, resulting in a fast control loop sufficient for real-time grasp control. We then develop a novel grasp controller that uses tactile feedback from all five fingertip sensors simultaneously to gently and stably grasp 43 objects of varying geometry and stiffness, which is then applied to a human-to-robot handover task. These developments open the door to more advanced manipulation with underactuated hands via fast reflexive control using high-resolution tactile sensing.
