论文标题
触觉灵活性：带有触觉反馈的操纵原语
Tactile Dexterity: Manipulation Primitives with Tactile Feedback
论文作者
论文摘要
本文通过双palm机器人系统开发了用于灵巧的机器人操作的闭环触觉控制器。触觉灵活性是一种灵巧操作的方法，该方法计划了机器人/对象相互作用，以呈现可解释的触觉信息以进行控制。我们将触觉控制的作用划分为两个目标：1）通过调节计划的接触配置的稳定性并监视不希望的滑移事件，控制终端效果和对象之间的接触状态（接触/无接触，摇杆/滑动）； 2）通过基于触觉的跟踪以及对象和机器人轨迹的迭代重新介绍来控制对象状态。 这种表述的关键是将操纵计划分解为具有简单的力学和有效计划者的操纵原语的序列。我们考虑将对象从初始姿势到平坦表面上的目标姿势操纵对象的情况，同时校正外部扰动和对象初始姿势的不确定性。我们通过ABB YUMI双臂机器人实验验证了该方法，并证明了触觉控制器对外部扰动的反应能力。
This paper develops closed-loop tactile controllers for dexterous robotic manipulation with a dual-palm robotic system. Tactile dexterity is an approach to dexterous manipulation that plans for robot/object interactions that render interpretable tactile information for control. We divide the role of tactile control into two goals: 1) control the contact state between the end-effector and the object (contact/no-contact, stick/slip) by regulating the stability of planned contact configurations and monitoring undesired slip events; and 2) control the object state by tactile-based tracking and iterative replanning of the object and robot trajectories. Key to this formulation is the decomposition of manipulation plans into sequences of manipulation primitives with simple mechanics and efficient planners. We consider the scenario of manipulating an object from an initial pose to a target pose on a flat surface while correcting for external perturbations and uncertainty in the initial pose of the object. We experimentally validate the approach with an ABB YuMi dual-arm robot and demonstrate the ability of the tactile controller to react to external perturbations.
