Vision-based interaction force estimation for robot grip motion without tactile/force sensor

作者：

Highlights：

• Method for estimating the interaction force of robot without Force-Torque sensor.

• Robot grip force estimation with visual information.

• Intelligent integration of various input modalities.

• The proposed method could estimate the interaction force about seen/unseen objects.

摘要

•Method for estimating the interaction force of robot without Force-Torque sensor.•Robot grip force estimation with visual information.•Intelligent integration of various input modalities.•The proposed method could estimate the interaction force about seen/unseen objects.

论文关键词：Force estimation,Robot grasping,Interaction force,Machine learning

论文评审过程：Received 14 April 2021, Revised 28 July 2022, Accepted 4 August 2022, Available online 8 August 2022, Version of Record 26 August 2022.

论文官网地址：https://doi.org/10.1016/j.eswa.2022.118441