arXiv:2507.06824cs.RO2025-07
实时估算手部滑动时的摩擦系数与接触半径
Friction Estimation for In-Hand Planar Motion
- 基于触觉力与滑动速度数据在线估计摩擦参数
- 可同时获取静摩擦、库仑摩擦和接触半径
- 适合需要精准抓握控制的机器人应用
本文提出一种在平行夹爪进行手部滑动操作时，对接触特性进行在线估计的方法。通过分析触觉测量的接触力和滑动速度，估计静摩擦、库仑摩擦以及接触半径。该方法在仿真和真实实验中均得到验证。此外，针对快速粘滑动态可能影响估计精度的问题，提出了一个启发式处理策略。
原文摘要 · Abstract (English)
This paper presents a method for online estimation of contact properties during in-hand sliding manipulation with a parallel gripper. We estimate the static and Coulomb friction as well as the contact radius from tactile measurements of contact forces and sliding velocities. The method is validated in both simulation and real-world experiments. Furthermore, we propose a heuristic to deal with fast slip-stick dynamics which can adversely affect the estimation.
摩擦估计触觉感知机器人抓取
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