用麦克风听声音控力，让机器人打磨更便宜更稳。
Acoustic Feedback for Closed-Loop Force Control in Robotic Grinding
- 用接触式麦克风采集打磨声，实时估算力值
- 在不同砂轮下一致性提升4倍，误差更小
- 仅需廉价麦克风，成本为传统传感器1/200
人类使用旋转工具打磨时，声音是判断工具与工件接触状态的关键线索。而现有机器人打磨系统多依赖昂贵的力传感器，难以适配不同工具。本文提出低成本的声学反馈机器人打磨系统（AFRG），通过接触式麦克风采集音频信号，实时估计磨削力并实现闭环力控。相比传统力传感方法，AFRG在不同砂轮条件下实现4倍的力控一致性提升。系统仅使用一个低成本麦克风，其成本约为传统力传感器的1/200，具备高可部署性与经济性，为低成本机器人打磨提供新方案。
原文摘要 · Abstract (English)
Acoustic feedback is a critical indicator for assessing the contact condition between the tool and the workpiece when humans perform grinding tasks with rotary tools. In contrast, robotic grinding systems typically rely on force sensing, with acoustic information largely ignored. This reliance on force sensors is costly and difficult to adapt to different grinding tools, whereas audio sensors (microphones) are low-cost and can be mounted on any medium that conducts grinding sound. This paper introduces a low-cost Acoustic Feedback Robotic Grinding System (AFRG) that captures audio signals with a contact microphone, estimates grinding force from the audio in real time, and enables closed-loop force control of the grinding process. Compared with conventional force-sensing approaches, AFRG achieves a 4-fold improvement in consistency across different grinding disc conditions. AFRG relies solely on a low-cost microphone, which is approximately 200-fold cheaper than conventional force sensors, as the sensing modality, providing an easily deployable, cost-effective robotic grinding solution.
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