Learning-Based Slip Detection for Dexterous Manipulation Using GelStereo Sensing
文献类型：期刊论文
| 作者 | Cui, Shaowei1 ; Wang, Shuo1,2,3; Wang, Rui1; Zhang, Shaolin1; Zhang, Chaofan2,4
|
| 刊名 | IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS
 |
| 出版日期 | 2023-05-24 |
| 页码 | 10 |
| 关键词 | Sensors Task analysis Three-dimensional displays Point cloud compression Feature extraction Adaptive control Grasping Dexterous manipulation slip detection slip feedback control tactile sensing |
| ISSN号 | 2162-237X |
| DOI | 10.1109/TNNLS.2023.3270579 |
| 通讯作者 | Wang, Shuo(shuo.wang@ia.ac.cn) |
| 英文摘要 | Endowing the robot with tactile perception can effectively improve manipulation dexterity, along with various benefits of human-like touch. Using GelStereo (GS) tactile sensing, which gives high-resolution contact geometry information, including 2-D displacement field, and 3-D point cloud of the contact surface, we present a learning-based slip detection system in this study. The results reveal that the well-trained network achieves 95.79% accuracy on the never-seen testing dataset, which surpasses the current model-based and learning-based methods using visuotactile sensing. We also propose a general framework for slip feedback adaptive control for dexterous robot manipulation tasks. The experimental results show the effectiveness and efficiency of the proposed control framework using GS tactile feedback when deployed on real-world grasping and screwing manipulation tasks on various robot setups. |
| WOS关键词 | TACTILE ; LOCALIZATION |
| 资助项目 | National Key Research and Development Program of China[2018AAA0103003] ; National Natural Science Foundation of China[62273342] ; National Natural Science Foundation of China[62122087] ; Beijing Natural Science Foundation[4222055] ; CIE-Tencent Robotics X Rhino-Bird Focused Research Program |
| WOS研究方向 | Computer Science ; Engineering |
| 语种 | 英语 |
| WOS记录号 | WOS:001005817500001 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| 资助机构 | National Key Research and Development Program of China ; National Natural Science Foundation of China ; Beijing Natural Science Foundation ; CIE-Tencent Robotics X Rhino-Bird Focused Research Program |
| 源URL | [http://ir.ia.ac.cn/handle/173211/53462]  |
| 专题 | 多模态人工智能系统全国重点实验室 |
| 通讯作者 | Wang, Shuo |
| 作者单位 | 1.Chinese Acad Sci, Inst Automat, State Key Lab Multimodal Artificial Intelligence S, Beijing 100190, Peoples R China 2.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 3.Chinese Acad Sci, Ctr Excellence Brain Sci & Intelligence Technol, Shanghai 200031, Peoples R China 4.Chinese Acad Sci, Inst Automat, Beijing 100190, Peoples R China |
| 推荐引用方式 GB/T 7714 | Cui, Shaowei,Wang, Shuo,Wang, Rui,et al. Learning-Based Slip Detection for Dexterous Manipulation Using GelStereo Sensing[J]. IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS,2023:10. |
| APA | Cui, Shaowei,Wang, Shuo,Wang, Rui,Zhang, Shaolin,&Zhang, Chaofan.(2023).Learning-Based Slip Detection for Dexterous Manipulation Using GelStereo Sensing.IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS,10. |
| MLA | Cui, Shaowei,et al."Learning-Based Slip Detection for Dexterous Manipulation Using GelStereo Sensing".IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS (2023):10. |
入库方式： OAI收割
来源：自动化研究所
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。