论文标题
基于视觉触觉传感器的力量估算位置力量近距离
Visual Tactile Sensor Based Force Estimation for Position-Force Teleoperation
论文作者
论文摘要
基于视觉的触觉传感器在机器人界已广泛关注。高度期望这些传感器能够提取接触信息，即手持操作期间的触觉信息。触觉传感器的这种性质使它们成为触觉反馈应用程序的完美匹配。在本文中，我们提出了一种使用基于视觉的触觉传感器数字的接触力估计方法，并将其应用于位置强制性远程操作体系结构以进行力反馈。力估计是通过构建深度图来进行数字凝胶表面变形测量测量并应用回归算法对估计深度数据和地面真实力数据的构建的深度图来完成的。实验是通过用触觉设备作为领导者机器人和平行机器人抓手作为追随者机器人构建抓握力反馈系统进行的，该机器人将数字传感器连接到机器人握把的尖端，以估计接触力。初步结果表明，将基于低成本的视力传感器用于力反馈应用的能力。
Vision-based tactile sensors have gained extensive attention in the robotics community. The sensors are highly expected to be capable of extracting contact information i.e. haptic information during in-hand manipulation. This nature of tactile sensors makes them a perfect match for haptic feedback applications. In this paper, we propose a contact force estimation method using the vision-based tactile sensor DIGIT, and apply it to a position-force teleoperation architecture for force feedback. The force estimation is done by building a depth map for DIGIT gel surface deformation measurement and applying a regression algorithm on estimated depth data and ground truth force data to get the depth-force relationship. The experiment is performed by constructing a grasping force feedback system with a haptic device as a leader robot and a parallel robot gripper as a follower robot, where the DIGIT sensor is attached to the tip of the robot gripper to estimate the contact force. The preliminary results show the capability of using the low-cost vision-based sensor for force feedback applications.
