面向机器人操作任务的视触觉传感技术综述

doi:10.11959/j.issn.2096-6652.202222

智能科学与技术学报 ›› 2022, Vol. 4 ›› Issue (2): 186-199.doi: 10.11959/j.issn.2096-6652.202222

• 专题：自主智能体灵巧精准操作学习 • 上一篇下一篇

面向机器人操作任务的视触觉传感技术综述

崔少伟¹^,², 王硕¹^,³^,⁴, 胡静怡¹^,², 张超凡¹^,³

¹ 中国科学院自动化研究所复杂系统管理与控制国家重点实验室，北京 100190
² 中国科学院大学未来技术学院，北京 100049
³ 中国科学院大学人工智能学院，北京 100049
⁴ 中国科学院脑科学与智能技术卓越创新中心，上海 200031

出版日期:2022-06-15 发布日期:2022-06-01
作者简介:崔少伟（1996− ），男，中国科学院自动化研究所博士生，主要研究方向为机器人触觉感知与灵巧操作
王硕（1973− ），男，博士，中国科学院自动化研究所复杂系统管理与控制国家重点实验室研究员，中国科学院大学人工智能学院首席教授，国家重点研发计划“智能机器人”重点专项总体组专家，国际标准化组织 ISO/TC 299 专家，中国机电一体化技术应用协会常务理事。主要从事机器人学习、视触融合灵巧操作、仿生机器鱼、水下机器人−作业臂系统等研究。在国内外期刊和会议上发表学术论文120余篇，合著图书4本，获授权发明专利21项、软件著作权12项，主持制定机器人国家标准2项。主持我国科学技术部科技创新2030—“新一代人工智能”重大项目“自主智能体灵巧精准操作学习方法研究与验证”、国家863计划项目、国家自然科学基金联合基金重点项目和面上项目、支撑计划项目、国际合作项目、北京市科学技术委员会项目等多项项目。曾获得国家自然科学奖二等奖1项，北京市科学技术奖一等奖1项，省部级二等奖 4 项，中国自动化学会技术发明奖一等奖1 项，中国自动化学会科普奖 1 项。中国科学院、中国自动化学会、中国人工智能学会优秀博士论文指导教师，曾获得中国科学院大学“领雁银奖·振翅奖”
胡静怡（1997− ），女，中国科学院自动化研究所博士生，主要研究方向为机器人触觉主动感知
张超凡（1998− ），女，中国科学院自动化研究所博士生，主要研究方向为机器人多模态感知与灵巧操作
基金资助:
科技创新2030—“新一代人工智能”重大项目(2018AAA0103003)

A survey of visuotactile sensing technologies for robotic manipulation

Shaowei CUI¹^,², Shuo WANG¹^,³^,⁴, Jingyi HU¹^,², Chaofan ZHANG¹^,³

¹ The State Key Laboratory for Management and Control of Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China
² School of Future Technology, University of Chinese Academy of Sciences, Beijing 100049, China
³ School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing 100049, China
⁴ Center for Excellence in Brain Science and Intelligence Technology, Chinese Academy of Sciences, Shanghai 200031, China

Online:2022-06-15 Published:2022-06-01
Supported by:
The National Key Research and Development Program of China(2018AAA0103003)

摘要/Abstract

摘要：

得益于高空间分辨率、多触觉模式的感知，视触觉传感技术已被广泛应用到机器人主动感知、位姿估计及掌内操作等各类机器人操作任务中。首先根据传感原理分类总结了目前主流的视触觉传感技术，主要可分为GelSight类视触觉传感器、双（多）目视触觉传感器以及其他类型视触觉传感器3类。在此基础上，进一步对主要触觉传感信息建模方法进行了介绍，包括接触表面三维几何形状、力/力矩、滑动等不同触觉模式。此外，聚焦机器人操作领域，对视触觉传感器的具体应用场景进行了探讨。最后，讨论了视触觉传感器的下一步发展方向以及如何将其进一步应用到机器人灵巧操作任务中。

关键词: 视触觉传感器, 机器人触觉感知, 机器人灵巧操作

Abstract:

Thanks to the high spatial resolution and multi-mode tactile sensing, visuotactile sensing technology has been widely applied to various robotic manipulation tasks, such as robotic active perception, pose estimation, and in-hand manipulation.Firstly, the current mainstream visuotactile sensing technologies based on sensing principles were summarized, which could be mainly divided into three categories: GelSight-type visuotactile sensors, binocular (multi-view) visuotactile sensors, and other types.Meanwhile, the sensing methods of different tactile sensing modes were further summarized, including contact surface 3D geometry, force/torque, and sliding.Furthermore, focusing on the field of robot operation, the specific application scenarios of visuotactile sensors were discussed.Finally, future work of the visuotactile sensing technology and how they can be further applied to robotic dexterous manipulation tasks were given.

Key words: visuotactile sensor, robotic tactile perception, robotic dexterous manipulation

中图分类号:

TP242.6

崔少伟, 王硕, 胡静怡, 等. 面向机器人操作任务的视触觉传感技术综述[J]. 智能科学与技术学报, 2022, 4(2): 186-199.

Shaowei CUI, Shuo WANG, Jingyi HU, et al. A survey of visuotactile sensing technologies for robotic manipulation[J]. Chinese Journal of Intelligent Science and Technology, 2022, 4(2): 186-199.

图/表 16

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表1

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图15

参考文献 64

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传感器	结构形态	接触胶体层	光源	相机系统	几何重建	力估计	滑动感知
GelSight^[9]	指尖	阵列标记点	RGB	单目	光度立体	神经网络	接触模型
GelSlim^[11]	指尖	阵列标记点	RGB	单目	光度立体	有限元	接触模型
DIGIT^[17]	指尖	无标记点	RGB	单目	待开发	无	无
GelTip^[20]	手指	无标记点	RGB	单目	光度立体	无	无
InSight^[21]	手指	无标记点	RGB	单目	光度立体	神经网络	无
DenseTact^[19]	指尖	无标记点	RGB	单目	神经网络	无	无
Soft-bubble^[14]	手掌	稠密标记点	单色	单目+深度	深度相机	无	无
GelStereo^[25]	指尖	阵列标记点	单色	双目	双目立体	神经网络	神经网络
OmniTact^[23]	指尖	无标记点	RGB	多目	光度立体	无	无
Tac3D^[27]	手掌	阵列标记点	单色	虚拟双目	双目立体	有限元	接触模型
TacTip^[13]	指尖	阵列标记探针	单色	单目	无	无	神经网络
GelForce^[29]	指尖	双层标记点	单色	单目	无	有限元	无
Sf.＆ D’ A.^[31]	手掌	稠密标记点	单色	单目	无	有限元	无
FingerVision^[16]	指尖	阵列标记点	无	单目	无	无	接触模型
DelTact^[36]	指尖	稠密像素图层	单色	单目	光流估计	有限元	神经网络

面向机器人操作任务的视触觉传感技术综述

A survey of visuotactile sensing technologies for robotic manipulation

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