The International Journal of Robotics Research Study, Ahead of Publish.
This paper attends to a basic issue in multi-finger robotic dexterous control, Multi-Tactile Sensing unit Calibration (MTSC). It entails approximating the loved one postures in between several responsive sensing units utilizing their inherent dimensions, important for working with several fingers in a dexterous robot hand, specifically when precise encoders are inaccessible. Unlike traditional multi-sensor calibration approaches (like cams), which depend on overlapping noticing areas and function factor matching, adjusting several responsive sensing units offers distinct difficulties due to the fact that these sensing units can not have overlapping noticing areas, preventing using common key-points noticeable from various sensing units. In this paper, we develop the academic basis for the MTSC issue, building restriction formulas based upon movements gauged at several areas on the very same grasped things from various responsive sensing units. The secret is that all these dimensions represent a common stiff body movement. A calibration plan is suggested as necessary, with academic evaluation carried out to boost accuracy. Cause simulation, with things of various forms, validate the credibility of the suggested calibration technique. In addition, calibration of the loved one posture in between 2 GelSlim vision-based responsive sensing units in genuine experiments shows excellent arrangement with the ground fact. The suggested concept and approach not just clarified discussing the precision void in between proprioception and responsive noticing in multi-finger control yet likewise lead the way for tactile-encoder-mixed or encoder-free services in dexterous multi-finger control.
发布者：Hexi Yu，转转请注明出处：https://robotalks.cn/multi-tactile-sensor-calibration-via-motion-constraints-with-tactile-measurements/
