摘要
由一位新闻记者兼机器人与机器学习的工作人员新闻编辑每日新闻-机器人的新研究是一份报告的主旨。根据NewsRx Journa Lists在比利时根特的新闻报道，研究表明：“这封信提出了一个新的框架，用于软身体插入式PE任务，例如用软刷子清洁瓶子。首先，训练了一个基于视觉和力觉的多模态模型。”新闻记者从根特大学的研究中获得了一句话:“软体的特性采用域随机化来弥补模拟与现实的差距。其次,我们提出了一种基于力感知的动态安全锁方法。”最后,通过仿真实验和真实实验,验证了该方法的有效性,仿真实验的成功率达到85.14%,真实实验的成功率达到83.45%。
Abstract
By a News Reporter-Staff News Editor at Robotics & Machine Learning Daily News Daily News – New research on Robotics is the subjec t of a report. According to news reporting from Ghent, Belgium, by NewsRx journa lists, research stated, “This letter proposes a novel framework for insertion-ty pe tasks with soft bodies, such as cleaning a bottle with a soft brush. First, a multimodal model based on vision and force perception is trained.” The news correspondents obtained a quote from the research from the University o f Ghent, “Domain randomization is used for the soft body’s properties to overcom e the simulation-to- reality gap. Second, we propose a dynamic safety lock metho d based on force perception, which is embedded in the training model to make sur e that the tool explores and traverses the hole’s path in a compliant way. This result in a higher success rate without damaging the tools/holes. Finally, we pe rform experiments in simulation and the real world, and the success rate of our proposed method reaches 85.14% in simulation and 83.45 % in the real world.”
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