Robot dexterous grasping method and system based on multi-modal fusion and force feedback

Abstract

The application provides a robot dexterous grasping method and system based on multi-modal fusion and force feedback, relates to the technical field of robot dexterous grasping, and comprises the following steps: collecting multi-modal data of a target object through a multi-modal sensor group, analyzing the multi-modal force state of the target object according to the multi-modal collection data of the target object, generating robot preliminary grasping parameters according to the multi-modal analysis data, performing robot grasping control according to the robot grasping parameters, obtaining force feedback collection data according to the robot grasping control data, adjusting and analyzing the robot preliminary grasping parameters according to the force feedback collection data, performing grasping adjustment control according to the grasping adjustment analysis data, and grasping the target object successfully until the target object is successfully grasped. The application realizes fine and self-adaptive control of robot grasping, effectively solves the problems of one-sided adjustment, low precision and weak scene adaptation of traditional technologies, significantly improves the grasping dexterity and reliability, and reduces the grasping failure and object damage risk.

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