Simple coarse sensing to achieve high precision From attractive region in environment to constrained region in environment

摘要

As a fundamental yet urgent issue, achieving high-precision robotic manipulation is becoming an active research area. Unfortunately, it is practically impossible to obtain an unlimited increase in sensor accuracy. In contrast, sensor-less manipulation approaches have attracted considerable attention. In particular, the concept of attractive region in environment has achieved encouraging results. Moreover, note that certain information cannot be captured directly from the sensors. With the above observations and inspired by the behaviour mechanism of human beings when accomplishing complex operations, this article proposed a novel bio-inspired co-sensing framework, which aims to solve the high-precision sensing problem by simple coarse sensors. One of the distinguishing features of the established framework is the constrained region in environment, the key idea of which is the integration of the relaxed constraint and the coarse sensor information. An illustrative example is provided to demonstrate the effectiveness and benefits of our theoretical findings.