CATCH-FORM-3D：面向三维粘弹性物体操作的顺应性感知触觉控制与混合变形调节
CATCH-FORM-3D: Compliance-Aware Tactile Control and Hybrid Deformation Regulation for 3D Viscoelastic Object Manipulation
AI总结：
本文提出CATCH-FORM-3D框架，通过PDE建模与内外环控制实现三维粘弹性物体操作中的精确接触力控制和亚毫米级变形调节。
摘要：
本文研究了一个用于粘弹性材料操作中精确接触力控制和表面变形调节的框架（CATCH-FORM-3D）。提出了一种偏微分方程（PDE）来建模时空应力-应变动力学，融合三维Kelvin-Voigt（刚度-阻尼）和Maxwell（扩散）效应以捕捉材料的粘弹性行为。关键力学参数（刚度、阻尼、扩散系数）通过PDE驱动的观测器实时估计。该观测器融合视觉-触觉传感器数据和经实验验证的力，以生成丰富的回归信号。然后，构建了内外环控制结构。在外环中，参考变形通过一种新型导纳控制律更新，这是一种带有接触力测量的比例-微分（PD）反馈律，确保系统对外部交互做出自适应响应。在内环中，建立了变形跟踪误差的反应-扩散PDE，并通过使接触表面符合解析几何构型（即定义Dirichlet边界条件）实现指数稳定。这种双环架构能够在动态接触环境中实现有效的变形调节。使用PaXini机器人手的实验表明，变形精度达到亚毫米级，力跟踪稳定。该框架推动了工业装配、聚合物成型、外科治疗和家庭服务等应用中柔顺机器人交互的发展。
英文摘要：
This paper investigates a framework (CATCH-FORM-3D) for the precise contact force control and surface deformation regulation in viscoelastic material manipulation. A partial differential equation (PDE) is proposed to model the spatiotemporal stress-strain dynamics, integrating 3D Kelvin-Voigt (stiffness-damping) and Maxwell (diffusion) effects to capture the material's viscoelastic behavior. Key mechanical parameters (stiffness, damping, diffusion coefficients) are estimated in real time via a PDE-driven observer. This observer fuses visual-tactile sensor data and experimentally validated forces to generate rich regressor signals. Then, an inner-outer loop control structure is built up. In the outer loop, the reference deformation is updated by a novel admittance control law, a proportional-derivative (PD) feedback law with contact force measurements, ensuring that the system responds adaptively to external interactions. In the inner loop, a reaction-diffusion PDE for the deformation tracking error is formulated and then exponentially stabilized by conforming the contact surface to analytical geometric configurations (i.e., defining Dirichlet boundary conditions). This dual-loop architecture enables the effective deformation regulation in dynamic contact environments. Experiments using a PaXini robotic hand demonstrate sub-millimeter deformation accuracy and stable force tracking. The framework advances compliant robotic interactions in applications like industrial assembly, polymer shaping, surgical treatment, and household service.
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。
