萧伟, 孙富春, 刘华平. 机器人灵巧手的触觉分析与建模[J]. 机器人, 2013, 35(4): 394-401. DOI: 10.3724/SP.J.1218.2013.00394
引用本文: 萧伟, 孙富春, 刘华平. 机器人灵巧手的触觉分析与建模[J]. 机器人, 2013, 35(4): 394-401. DOI: 10.3724/SP.J.1218.2013.00394
XIAO Wei, SUN Fuchun, LIU Huaping. Tactile Analysis and Modeling of Dextrous Robotic Hand[J]. ROBOT, 2013, 35(4): 394-401. DOI: 10.3724/SP.J.1218.2013.00394
Citation: XIAO Wei, SUN Fuchun, LIU Huaping. Tactile Analysis and Modeling of Dextrous Robotic Hand[J]. ROBOT, 2013, 35(4): 394-401. DOI: 10.3724/SP.J.1218.2013.00394

机器人灵巧手的触觉分析与建模

Tactile Analysis and Modeling of Dextrous Robotic Hand

  • 摘要: 为实现机器人灵巧手的精细操作,分析了灵巧手触觉时间序列的特点,提出了一种基于分段线性动态系统的“模型袋”描述方法.通过求解动态系统模型参数矩阵, 构造了用于描述不同类型目标物体的模型族,在低维特征空间中建立了触觉时间序列与模型族之间的对应关系. 通过对带有触觉阵列传感器的灵巧手系统进行实验,验证了本文提出的方法不仅可以准确精炼地描述同类目标物体触觉信息的动态过程, 还可以建立对不同类型目标物体的综合描述,为在特征空间内进行多模态信息融合提供支撑.

     

    Abstract: In order to achieve fine operation of dextrous robotic hand, the features of tactile data time-series of dextrous hand are analyzed, and a bag of models based on piecewise linear dynamic systems is proposed. Furthermore, corresponding relation between tactile data time-series and family of models describing different types of objects is established in low-dimensional feature space via solving parametric matrixes of dynamic system models. Some experiments are conducted on a dextrous hand with tactile array sensor, and the results show that the proposed method can give not only a precise description of the dynamic process corresponding to a same type of objects, but also a comprehensive description corresponding to different types of objects, which will lay the foundation for multi-modal information fusion in feature space.

     

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