Haptic Perception of Unknown Object by Robot Hand: Exploration Strategy and Recognition Approach

摘要

In this paper, the exploration and recognition in unknown object perception by robot hand is discussed. Inspired by the touch and exploration of human hand, a haptic exploration strategy for multi-fingered robot hand is proposed. Based on the observations from human experiments, the proposed strategy can be used to guide the robot hand to plan a series of movements to get tactile information from different unknown objects, with the precondition of avoiding unexpected collisions with the objects. A recognition approach is then presented to recognize object shapes based on the tactile point data collected by the strategy. Geometric feature vectors are extracted from tactile point locations and normal vectors after clustering, and the object shapes are recognized by the random forests classifier. Simulations and experiments results show that the exploration strategy can be used to guide the robot to gather tactile information from unknown object automatically, and the recognition approach is effective and robust in object shape recognition work. This framework provides a sensible solution for robot unknown object perception problem, which is suitable for the multi-fingered robot hand with low-resolution tactile sensors.