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

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.