The invention relates to an article classification and
recovery method based on multi-
modal active perception, and belongs to the technical field of
robot application. The method comprises the steps that firstly, a target detection
network model facing a target article is built, then a grabbing
pose for grabbing the target article is obtained, and a mechanical arm
system is guided to actively grabthe target article in a pinching mode according to the grabbing
pose; the
tail ends of fingers of a mechanical arm are provided with touch sensors, and touch signals on the surface of the target article can be obtained in real time while the target article is grabbed; and
feature extraction is conducted on the obtained touch information, the feature information is input into a touch classifier for identifying the material of the article, and classification and
recovery of the target article are completed. According to the article classification and
recovery method based on multi-
modal activeperception, visual and touch multi-
modal information is utilized, a
robot is guided to actively grab the target article in the most suitable
pose through a
visual detection result and collect the touch information, article material identification is achieved, and article classification and recovery are completed; and various recyclable articles made of different materials can be automatically identified, and high universality and practical significance are achieved.