让机器人通过触觉感知更智能地抓取和操作物体
Sensorimotor Control Strategies for Tactile Robotics
- 结合触觉反馈规划接触驱动的运动轨迹
- 实现对复杂环境和异质物体的稳定操控
- 适合从事机器人感知与控制研究的开发者
机器人如何变得更善于与环境交互？近年来，触觉传感技术的进展重塑了机器人感知与互动的方式。触觉传感成为关键突破，使机器人能够嵌入传感器-运动控制策略，在复杂环境中与物体进行精准交互，并灵活处理不同材质与形状的物体。这类控制框架可在执行过程中持续响应突发变化，动态调整动作。本文综述了当前触觉机器人感知与控制系统的最新方法，提供设计与实现的实用指导，并探讨了未来智能机器人发展的关键挑战。
原文摘要 · Abstract (English)
How are robots becoming smarter at interacting with their surroundings? Recent advances have reshaped how robots use tactile sensing to perceive and engage with the world. Tactile sensing is a game-changer, allowing robots to embed sensorimotor control strategies to interact with complex environments and skillfully handle heterogeneous objects. Such control frameworks plan contact-driven motions while staying responsive to sudden changes. We review the latest methods for building perception and control systems in tactile robotics while offering practical guidelines for their design and implementation. We also address key challenges to shape the future of intelligent robots.
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