面向抓取微姿态调整的接近-接触感知及协同研究

The dynamics and uncertainty of the interactive scene put higher requirements on the intelligent grasping of the robot. Thus, grasping micro-attitude adjustment, as a key part of robot intelligent grasping, has become a research hotspot. However, due to the perceptual failure of the visual system in the non-structural environment, it is impossible to accurately and efficiently complete the grasping micro-attitude adjustment, which makes the accuracy and safety of the robot cannot be guaranteed. This project intends to use electrostatic field theory, seepage theory and conductive path theory, to design the same-surface multi-electrode flexible proximity sensing unit and composite dielectric layer flexible tactile sensing unit. Also, the fully flexible integrated integration method of proximity-tactile sensing unit will be studied in this project. In addition, a fully flexible proximity-tactile sensor array, which is suitable for grasping micro-attitude adjustment, will be designed. This project will establish a grasping micro-attitude adjustment method based on proximity-tactile synergy, improve the autonomy and adaptability of intelligent grasping, and provide theoretical basis and technical support for robot intelligent grasping, and further expand the range of applications of flexible electronic skin in the field of intelligent robots, by solving the key scientific issues on the regulation mechanism of characteristic parameters of plate structure and uniformity of sensitive field, the construction of the composite dielectric layer with high electrical stability and mechanical repeatability, and the nonlinear fitting model of the grasping micro-attitude based on the proximity-tactile synergy, and revealing the synergistic mechanism of proximity-tactile sensor.

交互场景的动态性和不确定性，对机器人智能抓取提出了更高的要求，抓取微姿态调整作为机器人智能抓取的关键环节成为研究热点。由于非结构环境下视觉系统存在感知失效，无法继续精准高效完成抓取微姿态调整，致使机器人抓取的精确性和安全性难以保障。本项目基于静电场理论、渗流理论和导电通路理论，设计同面多电极柔性接近觉传感单元和复合介质层柔性触觉传感单元，研究接近觉-触觉传感单元全柔性一体化集成方法，设计适用于抓取微姿态调整的全柔性接近觉-触觉传感器阵列。通过解决极板结构特征参数与敏感场均匀性的调控机制、高电学稳定性与力学重复性的复合介质层构建、基于接近觉-触觉协同的抓取微姿态非线性函数拟合模型等关键科学问题，并揭示接近-接触协同感知机制，建立基于接近觉-触觉协同的抓取微姿态调整方法，提升智能抓取的自主性和自适应性，为机器人智能抓取提供理论依据与技术支撑，进一步拓展柔性电子皮肤在智能机器人领域中的应用范围。

交互场景的动态性和不确定性，对机器人智能抓取提出了更高的要求，抓取微姿态调整作为机器人智能抓取的关键环节成为研究热点。由于非结构环境下视觉系统存在感知失效，无法继续精准高效完成抓取微姿态调整，致使机器人抓取的精确性和安全性难以保障。本项目基于静电场理论、渗流理论和导电通路理论，分别设计了基于同面螺旋多电极高灵敏度、均匀敏感场柔性接近觉传感单元和基于三维多孔微结构复合介质层高灵敏度、高分辨率、快速响应柔性触觉传感单元。研究了接近觉-触觉双模态传感单元全柔性一体化集成方法，设计了面向抓取微姿态调整的全柔性接近觉-触觉传感器阵列。项目结合ANSYS Maxwell有限元仿真建模研究了同面螺旋极板结构特征参数与敏感场均匀性的调控机制，揭示了高电学稳定性与力学重复性三维多孔微结构复合介质层的制备方法，构建了基于接近觉-触觉协同的抓取微姿态非线性函数拟合模型。聚焦智能抓取的自主性和自适应性的提升，利用接近-接触协同感知机制建立了基于接近觉-触觉协同的抓取微姿态调整方法，并设计了集成触觉感知功能的气动式软体仿生机械手进行软抓取应用研究。项目研究成果可为机器人智能抓取提供理论依据与技术支撑，有望进一步拓展柔性电子皮肤在智能机器人领域中的应用范围。

内容获取失败，请点击重试