论文标题
带有触觉传感器的自然互动传感器导航
Navigation with Tactile Sensor for Natural Human-Robot Interaction
论文作者
论文摘要
已将触觉传感器引入了广泛的机器人任务，例如机器人操纵，以模仿人类的感觉。但是，只有一些作品将触觉传感整合到机器人导航中。本文介绍了一种导航系统，该系统允许机器人在拥挤的人体密集环境中运行，并通过利用嵌入式触觉传感器，RGB-D相机和LIDAR收集的语义和强制信息来表现社会可接受的反应。合规性控制是基于人造潜在领域来实施的，不仅考虑激光扫描，还迫使触觉传感器读取，这有望对任何可能的碰撞产生快速可靠的响应。与摄像机，激光雷达和其他非接触传感器相反，触觉传感器可以直接与人类相互作用，并且可用于在同一情况下接受类似于自然人类行为的社交线索。此外，该机器人利用视觉模块的语义细分，能够识别并为不同的人类分配不同的社会成本，从而使社会意识的路径计划有助于。在本文的最后，通过测试现实世界中的Omni方向机器人的几种情况，成功验证了拟议的控制策略。
Tactile sensors have been introduced to a wide range of robotic tasks such as robot manipulation to mimic the sense of human touch. However, there has only been a few works that integrate tactile sensing into robot navigation. This paper describes a navigation system which allows robots to operate in crowded human-dense environments and behave with socially acceptable reactions by utilizing semantic and force information collected by embedded tactile sensors, RGB-D camera and LiDAR. Compliance control is implemented based on artificial potential fields considering not only laser scan but also force reading from tactile sensors which promises a fast and reliable response to any possible collision. In contrast to cameras, LiDAR and other non-contact sensors, tactile sensors can directly interact with humans and can be used to accept social cues akin to natural human behavior under the same situation. Furthermore, leveraging semantic segmentation from vision module, the robot is able to identify and, therefore assign varying social cost to different groups of humans enabling for socially conscious path planning. At the end of this paper, the proposed control strategy was validated successfully by testing several scenarios on an omni-directional robot in real world.
