用力信号同时估计工具形状和接触位置，精度更高。
Simultaneous estimation of contact position and tool shape with high-dimensional parameters using force measurements and particle filtering
- 用粒子滤波器为每个粒子分配独立的工具形状参数
- 可处理超过1000维的高维形状参数，实现同步估计
- 适合需要精确接触感知的复杂工具操作任务
估计抓持工具与环境之间的接触状态对于装配和物体操作等任务至关重要。力信号在接触位置被工具遮挡时仍可提供有效信息。以往方法多依赖已知工具表面几何；虽有无需先验形状的方法，但通常耗时长或仅适用于低维形状参数的工具。本文提出一种新方法，通过网格表示工具形状（高维，超过1000维），利用粒子滤波器使每个粒子具有独立的形状参数，从而避免直接处理高维参数空间。该方法在平面曲面工具的仿真与实验中验证，能够同时估计工具形状与接触位置，显著提升接触位置估计精度。
原文摘要 · Abstract (English)
Estimating the contact state between a grasped tool and the environment is essential for performing contact tasks such as assembly and object manipulation. Force signals are valuable for estimating the contact state, as they can be utilized even when the contact location is obscured by the tool. Previous studies proposed methods for estimating contact positions using force/torque signals; however, most methods require the geometry of the tool surface to be known. Although several studies have proposed methods that do not require the tool shape, these methods require considerable time for estimation or are limited to tools with low-dimensional shape parameters. Here, we propose a method for simultaneously estimating the contact position and tool shape, where the tool shape is represented by a grid, which is high-dimensional (more than 1000 dimensional). The proposed method uses a particle filter in which each particle has individual tool shape parameters, thereby to avoid directly handling a high-dimensional parameter space. The proposed method is evaluated through simulations and experiments using tools with curved shapes on a plane. Consequently, the proposed method can estimate the shape of the tool simultaneously with the contact positions, making the contact-position estimation more accurate.
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