MOCA-S：一种利用低成本电容触觉覆盖层与全身控制的敏感型移动协作机器人助手
MOCA-S: A Sensitive Mobile Collaborative Robotic Assistant exploiting Low-Cost Capacitive Tactile Cover and Whole-Body Control
AI总结：
本文提出了MOCA-S，一种集成低成本电容触觉覆盖层和扩展全身控制器的敏感型移动协作机器人助手，通过实验验证了其在安全物理人机交互及碰撞场景下的本质安全性。
摘要：
安全性是机器人技术最基础的方面之一，特别是对于需要与人类进行物理交互的协作机器人而言。尽管大量文献关注了固定基座协作机器人的安全性，但在开发协作型移动机械臂方面投入的努力却很少。为满足这一需求，本工作提出了MOCA-S，即敏感型移动协作机器人助手，它集成了低成本的电容触觉覆盖层，用于测量施加在机器人基座上的交互力。该触觉覆盖层由11个电容式大面积触觉传感器组成，以一维触觉阵列的形式分布在基座周围。文中包含了对不同材料触觉传感器的特性分析。此外，提出了两种利用平台触觉覆盖层和移动操作功能的扩展全身控制器。这些控制器在两项实验中进行了测试，展示了MOCA-S在安全物理人机交互方面的潜力。最后，进行了一项实验，在移动操作任务中MOCA-S与人类发生了意外碰撞。结果证明了MOCA-S和所提出控制器的本质安全性，标志着向创建安全移动机械臂迈出了新的一步。
英文摘要：
Safety is one of the most fundamental aspects of robotics, especially when it comes to collaborative robots (cobots) that are expected to physically interact with humans. Although a large body of literature has focused on safety-related aspects for fixed-based cobots, a low effort has been put into developing collaborative mobile manipulators. In response to this need, this work presents MOCA-S, i.e., Sensitive Mobile Collaborative Robotic Assistant, that integrates a low-cost, capacitive tactile cover to measure interaction forces applied to the robot base. The tactile cover comprises a set of 11 capacitive large-area tactile sensors distributed as a 1-D tactile array around the base. Characterization of the tactile sensors with different materials is included. Moreover, two expanded whole-body controllers that exploit the platform's tactile cover and the loco-manipulation features are proposed. These controllers are tested in two experiments, demonstrating the potential of MOCA-S for safe physical Human-Robot Interaction (pHRI). Finally, an experiment is carried out in which an undesired collision occurs between MOCA-S and a human during a loco-manipulation task. The results demonstrate the intrinsic safety of MOCA-S and the proposed controllers, suggesting a new step towards creating safe mobile manipulators.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
