Learning to detect slip through tactile estimation of the contact force field and its entropy properties

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics Pub Date : 2024-10-01 DOI:10.1016/j.mechatronics.2024.103258

Xiaohai Hu , Aparajit Venkatesh , Yusen Wan , Guiliang Zheng , Neel Jawale , Navneet Kaur , Xu Chen , Paul Birkmeyer

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引用次数: 0

Abstract

Slip detection during object grasping and manipulation plays a vital role in object handling. Visual feedback can help devise a strategy for grasping. However, for robotic systems to attain a proficiency comparable to humans, integrating artificial tactile sensing is increasingly essential, especially in consistently handling unfamiliar objects. We introduce a novel physics-informed, data-driven approach to detect slip continuously for control-oriented tasks. Our work leverages the inhomogeneity of tactile sensor readings during slip events to develop distinct features and formulates slip detection as a classification problem. We test multiple data-driven models on 10 common objects under different loading conditions, textures, and materials to evaluate our approach. The resulting best classification algorithm achieves a high average accuracy of 95.61%. Practical application in dynamic robotic manipulation demonstrates the effectiveness of the proposed real-time slip detection and prevention.

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通过对接触力场及其熵属性的触觉估计学习检测滑移

物体抓取和操作过程中的滑动检测在物体处理过程中起着至关重要的作用。视觉反馈有助于制定抓取策略。然而，要使机器人系统达到与人类相媲美的熟练程度，整合人工触觉传感越来越重要，尤其是在持续处理不熟悉的物体时。我们介绍了一种新颖的物理信息数据驱动方法，用于持续检测滑移，以完成面向控制的任务。我们的工作利用滑动事件中触觉传感器读数的不均匀性来开发不同的特征，并将滑动检测作为一个分类问题。我们在 10 个常见物体上测试了不同负载条件、纹理和材料下的多个数据驱动模型，以评估我们的方法。最终得出的最佳分类算法平均准确率高达 95.61%。在动态机器人操纵中的实际应用证明了所提出的实时滑移检测和预防方法的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Mechatronics 工程技术-工程：电子与电气

CiteScore

5.90

自引率

9.10%

发文量

审稿时长

109 days

期刊介绍： Mechatronics is the synergistic combination of precision mechanical engineering, electronic control and systems thinking in the design of products and manufacturing processes. It relates to the design of systems, devices and products aimed at achieving an optimal balance between basic mechanical structure and its overall control. The purpose of this journal is to provide rapid publication of topical papers featuring practical developments in mechatronics. It will cover a wide range of application areas including consumer product design, instrumentation, manufacturing methods, computer integration and process and device control, and will attract a readership from across the industrial and academic research spectrum. Particular importance will be attached to aspects of innovation in mechatronics design philosophy which illustrate the benefits obtainable by an a priori integration of functionality with embedded microprocessor control. A major item will be the design of machines, devices and systems possessing a degree of computer based intelligence. The journal seeks to publish research progress in this field with an emphasis on the applied rather than the theoretical. It will also serve the dual role of bringing greater recognition to this important area of engineering.