面向机器人操作任务的视触觉传感技术综述  

A survey of visuotactile sensing technologies for robotic manipulation

作　　者：崔少伟 王硕[1,3,4] 胡静怡 张超凡 CUI Shaowei;WANG Shuo;HU Jingyi;ZHANG Chaofan(The State Key Laboratory for Management and Control of Complex Systems,Institute of Automation,Chinese Academy of Sciences,Beijing 100190,China;School of Future Technology,University of Chinese Academy of Sciences,Beijing 100049,China;School of Artificial Intelligence,University of Chinese Academy of Sciences,Beijing 100049,China;Center for Excellence in Brain Science and Intelligence Technology,Chinese Academy of Sciences,Shanghai 200031,China)

机构地区：[1]中国科学院自动化研究所复杂系统管理与控制国家重点实验室,北京100190 [2]中国科学院大学未来技术学院,北京100049 [3]中国科学院大学人工智能学院,北京100049 [4]中国科学院脑科学与智能技术卓越创新中心,上海200031

出　　处：《智能科学与技术学报》2022年第2期184-199,共16页Chinese Journal of Intelligent Science and Technology

基　　金：科技创新2030—“新一代人工智能”重大项目(No.2018AAA0103003)。

摘　　要：得益于高空间分辨率、多触觉模式的感知,视触觉传感技术已被广泛应用到机器人主动感知、位姿估计及掌内操作等各类机器人操作任务中。首先根据传感原理分类总结了目前主流的视触觉传感技术,主要可分为GelSight类视触觉传感器、双(多)目视触觉传感器以及其他类型视触觉传感器3类。在此基础上,进一步对主要触觉传感信息建模方法进行了介绍,包括接触表面三维几何形状、力/力矩、滑动等不同触觉模式。此外,聚焦机器人操作领域,对视触觉传感器的具体应用场景进行了探讨。最后,讨论了视触觉传感器的下一步发展方向以及如何将其进一步应用到机器人灵巧操作任务中。Thanks to the high spatial resolution and multi-mode tactile sensing,visuotactile sensing technology has been widely applied to various robotic manipulation tasks,such as robotic active perception,pose estimation,and in-hand manipulation.Firstly,the current mainstream visuotactile sensing technologies based on sensing principles were summarized,which could be mainly divided into three categories:GelSight-type visuotactile sensors,binocular(multi-view)visuotactile sensors,and other types.Meanwhile,the sensing methods of different tactile sensing modes were further summarized,including contact surface 3D geometry,force/torque,and sliding.Furthermore,focusing on the field of robot operation,the specific application scenarios of visuotactile sensors were discussed.Finally,future work of the visuotactile sensing technology and how they can be further applied to robotic dexterous manipulation tasks were given.

关 键 词：视触觉传感器 机器人触觉感知 机器人灵巧操作 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]