In-hand haptic perception in dexterous manipulations

Dexterous in-hand manipulation with multi-finger robotic hands is a hot topic in robotics. Recently many famous multi-finger robotic hands have been developed. Though a lot of research has been done on them; in-hand manipulation is still a challenge. One of its issues lies in the uncertainty of interaction states. In this paper we research robot-object interaction from a novel angle called haptic exploration. This method helps robots acquire the ability to explore the robot-object interaction. In in-hand manipulation tasks, haptic exploration is a process where the robot pushes on in-hand objects slightly in different directions, and meanwhile perceives the haptic feedback to estimate the interaction state. In this paper a new single finger push model is proposed for analyzing the haptic feedback, which is similar to traditional impedance control of robot arm. In this model the stiffness of fingers, the deformation on contact surface, and the change of object’s pos (position and attitude) are considered. Furthermore, a push resistance is given to describe the haptic feedback acquired from a slight push. Finally, real robotic experiments are conducted to verify the feasibility of proposed method.概要概要多指灵巧手的灵巧操作是一个非常重要的研究方向, 其中灵巧手和被操作物体间相对状态的感知是个具有挑战性的研究难题. 本文从灵巧手与物体之间相互作用的角度出发, 提出了一种触觉探索的感知方法. 在该方法中, 灵巧手指尝试沿不同的方向推动物体, 并在此过程中收集相关的触觉信息, 从而推断灵巧手和被操作物体之间的相对状态. 综合考虑手指推动过程中手指关节的刚度, 接触面的形变以及物体位置变化等重要因素, 本文给出了单指推动触觉感知模型, 分析推动方向和触觉反馈之间的联系. 相应的机器人实验结果表明本文提出的方法正确、 有效.创新点在机器人灵巧手的研究中提出了触觉探索的感知方法. 该方法将物体和手作为一个感知整体. 并在此基础上, 提出了单指推动的触觉感知模型.