Clasificación de objetos usando percepción bimodal de palpación única en acciones de agarre robótico
Enviado: 05-11-2018
|Aceptado: 31-03-2019
|Publicado: 01-01-2020
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Palabras clave:
Manipuladores robóticos, Percepción propioceptiva-táctil, Aprendizaje propioceptivo-táctil, Clasificación de objetos, Reconocimiento de objetos
Agencias de apoyo:
Fondos Europeos de Desarrollo Regional (FEDER)
Ministerio de Economía
Industria y Competitividad
proyecto DPI2015-68087-R
Ayuda pre-doctoral BES-2016-078290
Comisión Europea y del programa Interreg V. Sudoe
proyecto SOE2/P1/F0638.
Resumen:
Este trabajo presenta un método para clasificar objetos agarrados con una mano robótica multidedo combinando en un descriptor híbrido datos propioceptivos y táctiles. Los datos propioceptivos se obtienen a partir de las posiciones articulares de la mano y los táctiles se extraen del contacto registrado por células de presión instaladas en las falanges. La aproximación propuesta permite identificar el objeto aprendiendo de forma implícita su geometría y rigidez usando los datos que facilitan los sensores. En este trabajo demostramos que el uso de datos bimodales con técnicas de aprendizaje supervisado mejora la tasa de reconocimiento. En la experimentación, se han llevado a cabo más de 3000 agarres de hasta 7 objetos domésticos distintos, obteniendo clasificaciones correctas del 95%con métrica F1, realizando una única palpación del objeto. Además, la generalización del método se ha verificado entrenando nuestro sistema con unos objetos y posteriormente, clasificando otros nuevos similares.
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