触觉与视觉融合提升机器人插接任务成功率
Analysing the Interplay of Vision and Touch for Dexterous Insertion Tasks
- 融合视觉与触觉反馈实现精准插接控制
- 触觉使严苛条件下的插入成功率显著提升
- 适合研究多模态机器人操控的学者参考
机器人插接任务因感知不确定性及精确控制需求而具有挑战性，尤其在非结构化环境中。尽管人类能自然结合视觉与触觉完成此类任务，但将两者有效整合到机器人系统中仍是未解难题。本文深入分析了在灵巧插接任务中视觉与触觉反馈的相互作用，结果表明触觉传感可显著提升在公差严格、孔口方向多变等复杂条件下插入的成功率，而仅靠视觉无法解决。这些发现为设计更高效的多模态机器人控制系统提供了重要启示，并突显了触觉反馈在接触密集型操作任务中的关键作用。
原文摘要 · Abstract (English)
Robotic insertion tasks remain challenging due to uncertainties in perception and the need for precise control, particularly in unstructured environments. While humans seamlessly combine vision and touch for such tasks, effectively integrating these modalities in robotic systems is still an open problem. Our work presents an extensive analysis of the interplay between visual and tactile feedback during dexterous insertion tasks, showing that tactile sensing can greatly enhance success rates on challenging insertions with tight tolerances and varied hole orientations that vision alone cannot solve. These findings provide valuable insights for designing more effective multi-modal robotic control systems and highlight the critical role of tactile feedback in contact-rich manipulation tasks.
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