论文标题
利用触摸传感器来改善移动操作
Leveraging Touch Sensors to Improve Mobile Manipulation
论文作者
论文摘要
尽管服务机器人技术取得了许多进步，但在移动平台上成功且安全的对象操纵仍然是一个挑战。为了更接近人类的抓地力，自然可以为机器人提供与人类具有相同功能的能力：触摸感。该摘要介绍了目前正在开发的服务机器人Tiago的小说，配备触觉的最终效果。他们的主要目标是提高移动操作的可靠性和成功，但它们也能够在相关领域进行进一步的研究，例如通过人类演示，对象探索和力量控制算法学习。
Despite many advances in service robotics, successful and secure object manipulation on mobile platforms is still a challenge. In order to come closer to human grasping performance, it is natural to provide robots with the same capability that humans have: the sense of touch. This abstract presents novel, tactile-equipped end-effectors for the service robot TIAGo that are currently being developed. Their primary goal is to improve reliability and success of mobile manipulation, but they also enable further research in related fields such as learning by human demonstration, object exploration and force control algorithms.
