论文标题
盲人：使用分布式触觉感测以安全到达混乱的对象运动分类
Going In Blind: Object Motion Classification using Distributed Tactile Sensing for Safe Reaching in Clutter
论文作者
论文摘要
机器人操纵器在杂乱无章的架子或橱柜中导航可能会发现避免与障碍物接触的挑战。实际上，重新安排障碍对于访问目标可能是必要的。与其计划将障碍置于所需姿势的明确运动，不如说允许偶然的接触重新安排障碍物，同时监视触点以确保安全。绕过对象识别，我们提出了一种方法，可以从偶然的接触中收集的触觉数据与Allegro手上的电容性触觉皮肤分类对象运动。我们将与对象运动类别相关的触觉提示形式化，表明它们可以用$> 90 $％的精度确定对象是否可移动以及触点是否导致对象稳定滑动（安全接触）或提示（不安全）。
Robotic manipulators navigating cluttered shelves or cabinets may find it challenging to avoid contact with obstacles. Indeed, rearranging obstacles may be necessary to access a target. Rather than planning explicit motions that place obstacles into a desired pose, we suggest allowing incidental contacts to rearrange obstacles while monitoring contacts for safety. Bypassing object identification, we present a method for categorizing object motions from tactile data collected from incidental contacts with a capacitive tactile skin on an Allegro Hand. We formalize tactile cues associated with categories of object motion, demonstrating that they can determine with $>90$% accuracy whether an object is movable and whether a contact is causing the object to slide stably (safe contact) or tip (unsafe).
