可控性
计算机科学
软机器人
人工智能
机器人
视觉反馈
计算机视觉
反馈回路
机制(生物学)
简单(哲学)
人机交互
哲学
数学
计算机安全
认识论
应用数学
标识
DOI:10.1109/wrcsara60131.2023.10261824
摘要
Micro robotic hand, which manifests in many forms and is actuated via different mechanisms, is a popular tool for precise manipulation of small-scaled objects. However, conventional micro robots have limited controllability due to their simple structure and lack of sensing elements for status and environment feedback. In this work, a new type of 3D-printed robotic hand with computer vision-based feedback control is presented. The proposed micro soft robotic hands is actuated by a simple magnetic mechanism and shows the ability to manipulate soft matters such as liquid droplets. Identifying objects, especially clear droplets that do not have a strong contrast with the background, presents a great challenge for visual feedback. Therefore, computer vison-based AI technology is implemented to identify and track the micro robotic hand and target objects, which provides a visual feedback for the closed-loop control of desired actions in order to accomplish accurate and precise operations.
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