哈尔滨工程大学学报2016，Vol.37Issue(10)：1400-1407,8.DOI:10.11990/jheu.201509052
基于灵巧手触觉信息的未知物体类人探索策略
An anthropomorphic exploration strategy of unknown object based on haptic information of dexterous robot hand
摘要
Abstract
Based on the observation and analysis of human behaviors in exploring an unknown object by touch, a haptic exploration strategy was proposed to enhance robot adaptability to an environment which is suitable for a dex⁃terous robot hand to explore the unknown object autonomously. The whole exploration process was divided into two stages which were the top exploration and the side exploration. In top exploration, the object was approximated by a bounding box and the basic dimensions and posture of object were roughly estimated according to obtained haptic information. In side exploration, the objects were classified according to basic dimensions by the classification ine⁃qualities, and a different side exploration strategy was applied to each kind of objects to guide the robot to collect haptile information of unknown objects. Finally, the haptic exploration experiment of the unknown object was com⁃pleted by a humanoid robot platform. Experimental results show that the robot can use only tactile sensors to com⁃plete exploration of the unknown object autonomously through the proposed strategy.关键词
机器人灵巧手/触觉传感器/行为观察/探索策略/触觉信息Key words
dexterous robot hand/tactile sensor/behavior observation/exploration strategy/haptile information分类
信息技术与安全科学引用本文复制引用
顾海巍,樊绍巍,金明河,刘宏..基于灵巧手触觉信息的未知物体类人探索策略[J].哈尔滨工程大学学报,2016,37(10):1400-1407,8.基金项目
国家自然科学基金项目（61203346）；国家重点基础研究发展计划（2013CB733103）；黑龙江省博士后基金项目（LBH-I11124）；中央高校基本科研业务费专项资金项目（ HIT． NSRIF．201640）． （）
