机器人灵巧手的触觉分析与建模  

Tactile Analysis and Modeling of Dextrous Robotic Hand

作　　者：萧伟[1] 孙富春[1] 刘华平[1] 

机构地区：[1]清华大学计算机科学与技术系智能技术与系统国家重点实验室清华信息科学与技术国家实验室,北京100084

出　　处：《机器人》2013年第4期394-401,共8页Robot

基　　金：国家自然科学基金重大国际合作研究项目(61210013);国家自然科学基金资助项目(60621062;90716021);国家973计划资助项目(2009CB724002);清华大学自主科研计划课题(20111081111)

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.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 lowdimensional 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.

关 键 词：灵巧手 触觉 线性动态系统 模型袋 精细操作 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]