将摄像头嵌入手部工具尖端，实现积木装配的毫米级精准定位
Eye-in-Finger: Smart Fingers for Delicate Assembly and Disassembly of LEGO
- 在工具末端集成微型高清摄像头，解决视野遮挡问题
- 使机器人装配误差容忍度从0.4毫米提升至2.0毫米
- 适合精密装配、小件操作等需要高精度视觉的场景
基于视觉的机器人系统在执行小型精密部件的装配与拆卸任务时，仍面临精度要求高、环境杂乱等挑战。传统全局或腕部安装摄像头常因遮挡导致失效。本文提出“Eye-in-Finger”新型工具设计，将低成本、高分辨率感知装置直接部署于工具末端。通过积木装配与拆卸任务验证，该系统可在复杂环境中实现亚毫米级精度，并支持实时对齐误差修正。实验表明，该系统将机器人装配的校准误差容忍度由0.4毫米提升至最高2.0毫米，显著增强鲁棒性。
原文摘要 · Abstract (English)
Manipulation and insertion of small and tight-toleranced objects in robotic assembly remain a critical challenge for vision-based robotics systems due to the required precision and cluttered environment. Conventional global or wrist-mounted cameras often suffer from occlusions when either assembling or disassembling from an existing structure. To address the challenge, this paper introduces "Eye-in-Finger", a novel tool design approach that enhances robotic manipulation by embedding low-cost, high-resolution perception directly at the tool tip. We validate our approach using LEGO assembly and disassembly tasks, which require the robot to manipulate in a cluttered environment and achieve sub-millimeter accuracy and robust error correction due to the tight tolerances. Experimental results demonstrate that our proposed system enables real-time, fine corrections to alignment error, increasing the tolerance of calibration error from 0.4mm to up to 2.0mm for the LEGO manipulation robot.
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