论文标题
设计完全驱动的机器人手，带有多个胶合触觉传感器
Design of a Fully Actuated Robotic Hand With Multiple Gelsight Tactile Sensors
论文作者
论文摘要
这项工作详细介绍了一种新型的两指机器人抓地力的设计，其基于多个基于胶合的光剂传感器覆盖了手的内表面。多个Gelsight传感器可以同时从多个视图中收集对象的表面拓扑，并可以跟踪剪切和拉伸应力。此外，其他感应方式使手可以从要抓住的物体中收集热，声学和振动信息。力控制的抓手是完全驱动的，因此可以用于各种掌握配置，也可以用于手持操作任务。在这里，我们介绍了这样的抓手的设计。
This work details the design of a novel two finger robot gripper with multiple Gelsight based optical-tactile sensors covering the inner surface of the hand. The multiple Gelsight sensors can gather the surface topology of the object from multiple views simultaneously as well as can track the shear and tensile stress. In addition, other sensing modalities enable the hand to gather the thermal, acoustic and vibration information from the object being grasped. The force controlled gripper is fully actuated so that it can be used for various grasp configurations and can also be used for in-hand manipulation tasks. Here we present the design of such a gripper.
