论文标题
使用听觉和力功能可靠的对象放置在家庭环境中的多模式接触检测
Multimodal Contact Detection using Auditory and Force Features for Reliable Object Placing in Household Environments
论文作者
论文摘要
典型的接触检测基于对力和扭矩信号中阈值的监视。由于可能遇到的对象的特征的可变性，因此在非结构化或高度动态环境中操作的机器人的选择对于在家庭环境中运行的机器人来说是具有挑战性的。我们使用时间和频域特征提出了一种多模式接触检测方法，该方法对听觉和触觉方式中接触事件的独特特征进行了建模。在我们的方法中，不需要监视力和扭矩阈值，因为检测是基于频域中力和扭矩信号的特征以及操纵任务产生的冲击声。我们通过在家庭环境中使用典型的玻璃放置任务评估了我们的方法。我们的实验结果表明，强大的接触检测（99.94％的平均交叉验证精度）可能独立于力/扭矩阈值值，并且适合在高度动态的情况下实施进行操作。
Typical contact detection is based on the monitoring of a threshold value in the force and torque signals. The selection of a threshold is challenging for robots operating in unstructured or highly dynamic environments, such in a household setting, due to the variability of the characteristics of the objects that might be encountered. We propose a multimodal contact detection approach using time and frequency domain features which model the distinctive characteristics of contact events in the auditory and haptic modalities. In our approach the monitoring of force and torque thresholds is not necessary as detection is based on the characteristics of force and torque signals in the frequency domain together with the impact sound generated by the manipulation task. We evaluated our approach with a typical glass placing task in a household setting. Our experimental results show that robust contact detection (99.94% mean cross-validation accuracy) is possible independent of force/torque threshold values and suitable of being implemented for operation in highly dynamic scenarios.
