用视觉触觉传感器实现机器人轮廓跟踪，无需额外姿态估计。
VBT-MPC: Vision-Based Tactile MPC for Contour Following
- 直接在轮廓特征空间控制，省去姿态估计和复杂力控模块。
- 仿真与真实实验均验证对不同几何与材质物体的跟踪效果。
- 适合需要高精度接触式操作的机器人任务，如表面检测。
触觉感知在机器人操作中至关重要，尤其在表面检测等任务中。成功执行需保持接触并精确跟踪物体轮廓。本文提出一种基于视觉触觉传感器（VBTS）的眼在手上配置的视觉触觉模型预测控制（VBT-MPC）框架，用于机器人轮廓跟踪。该控制器直接在轮廓特征空间中运行，避免了独立的姿态估计算法或复杂的力控架构。我们进一步将VBT-MPC与适应触觉特征的视觉伺服策略进行比较，并在仿真和真实世界实验中评估了其在多种几何形状和材料物体上的轮廓跟踪性能。
原文摘要 · Abstract (English)
Tactile sensing plays a key role in robotic manipulation, particularly in tasks like surface inspection. Successful execution requires maintaining contact while accurately tracking object contours. In this work, we propose a Vision-Based Tactile Model Predictive Control (VBT-MPC) framework for robotic contour following using a Vision-Based Tactile Sensor (VBTS) mounted in an eye-in-hand configuration. The proposed controller operates directly in contour features space, thereby avoiding the need for separate pose-estimation modules or complex force-control architectures. We further compare our VBT-MPC with visual-servoing strategies adapted to tactile features, and evaluate contour tracking on objects with diverse geometries and materials in both simulation and real-world experiments.
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