用低成本触觉传感器实现无人机精准力控抓取，可实时测重并保护易碎物品
A Precise Real-Time Force-Aware Grasping System for Robust Aerial Manipulation
- 采用六组柔性触觉传感器与磁感应技术，实现三维力高精度感知
- 在真实飞行中成功抓握气球、动态负载变化下仍保持稳定，能实时测量被抓物重量
- 全机载运行无需外部定位系统，适合轻量级无人机实用部署
空中操作需要具备力觉感知能力以实现安全有效的抓取和物理交互。以往方法通常依赖笨重昂贵的力传感器，不适用于典型四旋翼平台，或完全缺乏力反馈，可能损坏脆弱物体。为此，我们提出一种新型力觉感知抓取框架，集成六组低成本、高灵敏度的类皮肤触觉传感器。引入基于磁感应的触觉传感模块，实现高精度三维力测量；通过参考霍尔传感器消除地磁场干扰，简化校准流程。该框架支持精确力觉抓取控制，可安全操作脆弱物体，并实现实时抓取物体重力测量。通过全面的实地实验验证，包括气球抓取、动态负载变化测试及消融研究，证明其在多种空中操作场景下的有效性。本方法实现完全机载运行，无需外部运动捕捉系统，显著提升力敏感空中操作的实用性。补充视频见：https://www.youtube.com/watch?v=mbcZkrJEf1I。
原文摘要 · Abstract (English)
Aerial manipulation requires force-aware capabilities to enable safe and effective grasping and physical interaction. Previous works often rely on heavy, expensive force sensors unsuitable for typical quadrotor platforms, or perform grasping without force feedback, risking damage to fragile objects. To address these limitations, we propose a novel force-aware grasping framework incorporating six low-cost, sensitive skin-like tactile sensors. We introduce a magnetic-based tactile sensing module that provides high-precision three-dimensional force measurements. We eliminate geomagnetic interference through a reference Hall sensor and simplify the calibration process compared to previous work. The proposed framework enables precise force-aware grasping control, allowing safe manipulation of fragile objects and real-time weight measurement of grasped items. The system is validated through comprehensive real-world experiments, including balloon grasping, dynamic load variation tests, and ablation studies, demonstrating its effectiveness in various aerial manipulation scenarios. Our approach achieves fully onboard operation without external motion capture systems, significantly enhancing the practicality of force-sensitive aerial manipulation. The supplementary video is available at: https://www.youtube.com/watch?v=mbcZkrJEf1I.
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