An object classification method based on feature extraction of tactile information of multi-fingered manipulator

Abstract

The invention discloses an object classification method based on the feature extraction of tactile information of a multi-fingered manipulator. In the classification method, multiple types of tactile-related sensors are deployed on the fingertips of a multi-fingered manipulator in an array, combined with the grasping and processing of objects by the manipulator. Swipe to obtain various types of tactile information, including but not limited to pressure, vibration, temperature and humidity, etc., process different types of tactile information separately, simulate the various components of the tactile sense, thereby obtaining various information of objects, and support the use of tactile information The vector machine method is used for training and learning, and the tactile components such as rigidity, temperature and humidity, surface texture, and thermal conductivity are mapped to the feature vector, so that various objects can be classified online or offline, thereby realizing the bionics of human touch.

Description

technical field [0001] The invention belongs to the technical field of bionic application of manipulators, and in particular relates to an object classification method based on feature extraction of tactile information of multi-finger manipulators. Background technique [0002] In recent years, robot bionics has developed rapidly, and robots are more and more widely used in industry and service industries. At the same time, all kinds of sensors are emerging in an endless stream, and the sensors have made great progress in terms of volume, measurement accuracy and deployment form. But at present, robots are still engaged in mechanized and repetitive actions, and the application of self-feedback mechanism is still rare. In addition, the bionics of robots has made great progress in vision and hearing, but there is still a big gap in the sense of touch. Even if there is, the current sense of touch is only used for simple contact judgment and other fields, and it is not complete...

AI Technical Summary

Problems solved by technology

[0005] (1) The application of tactile sensors is still in its infancy. It is only used for simple contact judgments, etc., and is limited to pressure sensing. Especially the domestic team ignores the pressure, temperature and humidity, and cannot complete the complete tactile generation and simulation

(2) The feature extraction and analysis for tactile information is relatively fragmented and cannot fully adapt to different tactile information features

(3) Existing manipulators can only engage in simple repetitive mechanized work, and cannot form a self-feedback closed loop to complete complex operations, such as adaptive grasping and classification of many different objects

Images