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Nov, 2023
RoboSense智能边缘：检测机械手中物体的滑动、皱缩和形状，用于远程操作
RoboSense At Edge: Detecting Slip, Crumple and Shape of the Object in Robotic Hand for Teleoprations
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Sudev Kumar Padhi, Mohit Kumar, Debanka Giri, Subidh Ali
TL;DR
通过机器学习技术和力/扭矩以及机械手部分的角度位置等数据，我们提出了一种用于检测机械手中物体滑动和变形的模型，并将其整合到机械手和触觉手套的控制循环中，以减少远程手术中的延迟。
Abstract
Slip and
crumple detection
is essential for performing robust manipulation tasks with a
robotic hand
(RH) like remote surgery. It has been one of the challenging problems in the robotics manipulation community. I
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