基于触须的主动触觉感知用于轮廓重建

抖音热门 2025年08月11日 11:01 1 admin

中文标题

基于触须的主动触觉感知用于轮廓重建

英文标题

基于触须的主动触觉感知用于轮廓重建

Whisker-based Active Tactile Perception for Contour Reconstruction

中文摘要

使用触须启发的触觉传感器进行感知目前面临一个主要挑战：基于触须直接接触信息的机器人缺乏主动控制。为了准确重建物体轮廓，触须传感器必须持续跟随并在表面上保持适当的相对接触姿态。这对于基于尖端接触的定位尤其重要，因为其对锋利表面的容忍度较低，必须避免滑入切向接触。在本文中，我们首先构建了一个磁感应触须传感器，该传感器具有由三个柔性螺旋臂组成的紧凑且坚固的悬挂系统。我们开发了一种方法，利用特征化的触须偏转轮廓，通过梯度下降直接提取尖端接触位置，并应用贝叶斯滤波器来减少波动。然后，我们提出了一种主动运动控制策略，以在物体表面上保持触须传感器的最佳相对姿态。采用B样条曲线来预测局部表面曲率并确定传感器方向。结果表明，我们的算法能够以亚毫米精度有效跟踪物体并重建轮廓。最后，我们在模拟和真实实验中验证了该方法，其中机械臂驱动触须传感器跟随三个不同物体的表面。

英文摘要

Perception using whisker-inspired tactile sensors currently faces a major challenge: the lack of active control in robots based on direct contact information from the whisker. To accurately reconstruct object contours, it is crucial for the whisker sensor to continuously follow and maintain an appropriate relative touch pose on the surface. This is especially important for localization based on tip contact, which has a low tolerance for sharp surfaces and must avoid slipping into tangential contact. In this paper, we first construct a magnetically transduced whisker sensor featuring a compact and robust suspension system composed of three flexible spiral arms. We develop a method that leverages a characterized whisker deflection profile to directly extract the tip contact position using gradient descent, with a Bayesian filter applied to reduce fluctuations. We then propose an active motion control policy to maintain the optimal relative pose of the whisker sensor against the object surface. A B-Spline curve is employed to predict the local surface curvature and determine the sensor orientation. Results demonstrate that our algorithm can effectively track objects and reconstruct contours with sub-millimeter accuracy. Finally, we validate the method in simulations and real-world experiments where a robot arm drives the whisker sensor to follow the surfaces of three different objects.