触覚センシングに基づく未知物体の安全かつ優しい把持
Tactile Sensing-based Secure and Gentle Grasping of Unknown Objects
触覚センサとオンライン学習・モデル予測制御を組み合わせ、未知物体を滑らせず壊さずに把持・操作する手法を提案。
詳しい要約
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2. 先行研究と比べてどこがすごい？
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著者: Feng Han
分類: cs.RO
原文アブストラクト
Reliable robotic manipulation requires maintaining a firm grasp while strictly avoiding both contact slip and structural damage to the object. Satisfying these inherent \textit{secure-and-gentle} grasping constraints is challenging for unknown objects. We present a novel online data-driven predictive control framework for safe dynamic robotic grasping of unknown objects. The proposed system features a pair of compact, single-channel tactile-sensing modules that characterize the gripper-object dynamic interaction in real time, entirely bypassing the need for prior knowledge or offline training. A finite-state-machine-based grasping force probing mechanism is developed to establish the initial grasping force and explicitly identify grasping force constraints. Through online dynamics learning, a Gaussian Process (GP) model captures gripper-object interaction dynamics. The model uncertainties are further used to form robust grasping constraints, which are embedded into a model predictive control scheme. We demonstrate error convergence in a probabilistic sense. The proposed control framework runs at 100~Hz in real time to dynamically manipulate and handle objects rather than static holding. Extensive experimental evaluations across diverse contact surface topologies and various types of objects validate superior performance and efficiency compared to baseline strategies. The proposed method is able to manipulate objects ranging from delicate items, such as raw tofu and marshmallows, to rough objects, such as rocks.