期刊
IEEE ROBOTICS AND AUTOMATION LETTERS
卷 8, 期 5, 页码 2700-2707出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/LRA.2023.3257680
关键词
Robots; Force; Tactile sensors; Planning; Nose; Task analysis; Films; Force and tactile sensing; force control; contact modeling
类别
A tactile-guided planning and control framework using GTac, a heterogeneous tactile sensor, is proposed for robots to perform delicate tasks on deformable objects. The framework accurately estimates the contact angle, achieves excellent tracking performance, and robust force control.
The human sense of touch enables us to perform delicate tasks on deformable objects and/or in a vision-denied environment. To achieve similar desirable interactions for robots, such as administering a swab test, tactile information sensed beyond the tool-in-hand is crucial for contact state estimation and contact force control. In this letter, a tactile-guided planning and control framework using GTac, a heteroGeneous Tactile sensor tailored for interaction with deformable objects beyond the immediate contact area, is proposed. The biomimetic GTac in use is an improved version optimized for readout linearity, which provides reliability in contact state estimation and force tracking. A tactile-based classification and manipulation process is designed to estimate and align the contact angle between the tool and the environment. Moreover, a Koopman operator-based optimal control scheme is proposed to address the challenges in nonlinear control arising from the interaction with the deformable object. Finaly, several experiments are conducted to verify the effectiveness of the proposed framework. The experimental results demonstrate that the proposed framework can accurately estimate the contact angle as well as achieve excellent tracking performance and strong robustness in force control.
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