信息与控制2024，Vol.53Issue(2)：191-198,8.DOI:10.13976/j.cnki.xk.2023.2598
基于注意力机制和视触融合的机器人抓取滑动检测
Slip Detection for Robot Grasping Based on Attention Mechanism and Visuo-Tactile Fusion
摘要
Abstract
Slip detection for robot grasping is of great significance for grip tasks.In the grasping process,vision and touch are the key modal information for judging the grasping state.To achieve efficient visuotactile fusion remains challenging.A novel visual and tactile fusion model is pro-posed to address the issues of efficient slip detection for robot grasping based on the idea of visual and tactile fusion.First,the model extracts the spatial and temporal feature information of visual and haptic data using a convolutional neural network and a multiscale temporal convolutional net-work.Second,an attention mechanism is used to assign weights to visuotactile features,and multi-modal information fusion is performed through a multiscale temporal convolutional network.Final-ly,the detection results of the grasping state are acquired through one fully connected layer.Data acquisition is implemented using an XArm 7DOF robotic arm,D455 RGB camera,and XELA tact-ile sensor.The experimental results show that the accuracy rate of slip detection for robot grasping using the proposed model is as high as 9898％.The proposed model has good research and appli-cation value in the reliable and smooth execution of robot grip tasks.关键词
机器人抓取/视触融合/多尺度时序卷积网络/注意力机制Key words
robot grasp/visuo-tactile fusion/multi-scale temporal convolution network/attention mechanism分类
信息技术与安全科学引用本文复制引用
黄兆基,高军礼,唐兆年,宋海涛,郭靖..基于注意力机制和视触融合的机器人抓取滑动检测[J].信息与控制,2024,53(2):191-198,8.基金项目
国家自然科学基金项目(61803103) （61803103）
国家留学基金项目(201908440537) （201908440537）
