智能科学与技术学报 (Jun 2022)
3D edge reconstruction method based on tactile sensing and servo
Abstract
The dexterous manipulation of robots has always been a hot topic in the field of robotics.In many dexterous manipulation tasks, robots need not only visual feedback, but also tactile feedback at the fingertips, especially in poor lighting conditions.Currently, 3D shape sensing of objects using tactile servo is still very challenging.The flat GelSight tactile sensors are not suitable for 3D shape sensing of objects.Therefore, the design of GelSight tactile sensor was improved to make it more suitable for the acquisition of edge information of 3D objects.At the same time, an object edge tracking control strategy based on tactile servo and a 3D object edge reconstruction method based on tactile point cloud were proposed to support the generation of dexterous manipulation strategies for robots.For a variety of complex 3D edge models, the effectiveness of the proposed method was verified by the tactile servo tracking and 3D edge reconstruction experiments.
