用触觉反馈实时调整抓取，无需物体形状信息
High-Bandwidth Tactile-Reactive Control for Grasp Adjustment
- 仅依赖触觉信号设计自适应抓取控制器
- 在200Hz高频触觉反馈下提升抓取稳定性
- 适合感知误差大或初始抓取粗糙的场景
纯视觉抓取系统受限于标定误差、传感器噪声和抓取姿态预测不准，导致抓取末端存在不可避免的接触不确定性。高带宽触觉反馈结合精心设计的触觉响应控制器，可显著提升感知误差下的鲁棒性。本文提出一种完全基于触觉反馈的抓取调整算法，无需物体几何先验或精确抓取姿态，即使从粗略、不准确的初始配置和不确定接触点开始，也能有效优化抓取。通过仿真与真实实验验证，在配备8-DoF机械手、工作频率达200 Hz的指尖触觉传感器的15-DoF臂手系统上，所提触觉响应抓取框架显著提升了抓取稳定性。
原文摘要 · Abstract (English)
Vision-only grasping systems are fundamentally constrained by calibration errors, sensor noise, and grasp pose prediction inaccuracies, leading to unavoidable contact uncertainty in the final stage of grasping. High-bandwidth tactile feedback, when paired with a well-designed tactile-reactive controller, can significantly improve robustness in the presence of perception errors. This paper contributes to controller design by proposing a purely tactile-feedback grasp-adjustment algorithm. The proposed controller requires neither prior knowledge of the object's geometry nor an accurate grasp pose, and is capable of refining a grasp even when starting from a crude, imprecise initial configuration and uncertain contact points. Through simulation studies and real-world experiments on a 15-DoF arm-hand system (featuring an 8-DoF hand) equipped with fingertip tactile sensors operating at 200 Hz, we demonstrate that our tactile-reactive grasping framework effectively improves grasp stability.
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