机器人灵巧手的触觉分析与建模.pdf

35 4 ROBOT Vol.35, No.4 2013 7 Jul., 2013 DOI 10.3724/SP.J.1218.2013.00394 100084 TP24 A 1002-0446(2013)-04-0394-08 Tactile Analysis and Modeling of Dextrous Robotic Hand XIAO Wei SUN Fuchun LIU Huaping (Tsinghua National Laboratory for Information Science and Technology, State Key Laboratory of Intelligent Technology and Systems, Department of Computer Science and Technology, Tsinghua University, Beijing 100084, China) Abstract: In order to achieve fine operation of dextrous robotic hand, the features of tactile data time-series of dextrous hand are analyzed, and a bag of models based on piecewise linear dynamic systems is proposed. Furthermore, corresponding relation between tactile data time-series and family of models describing different types of objects is established in low- dimensional feature space via solving parametric matrixes of dynamic system models. Some experiments are conducted on a dextrous hand with tactile array sensor, and the results show that the proposed method can give not only a precise description of the dynamic process corresponding to a same type of objects, but also a comprehensive description corresponding to different types of objects, which will lay the foundation for multi-modal information fusion in feature space. Keywords: dextrous robotic hand; tactile; linear dynamic system; bag of model; fine operation 1 Introduction