Shulou(Shulou.com)11/24 Report--

Thank you, CTOnews.com netizens. Hello, rabbit, Mr. Aviation's clue delivery! CTOnews.com April 25, Tencent Robotics X Lab released the research results of dexterous operation, and launched the self-developed robot dexterous hand "TRX-Hand" and robot arm "TRX-Arm".

Dexterous hand "TRX-Hand" perception:

Vision-recognize the cup: through the camera to understand the object, understand the layout.

Proximity-find the cup: approach the object, judge the distance, and accurately identify the position through the miniature lidar and proximity sensor.

Tactile-perceptual cup: the whole hand covers highly sensitive tactile skin, which can judge contact, assist vision, and perceive the state of objects.

Force sense-hold and put the cup: through the wrist force sensor to make the movement more gentle, to avoid damaging the object.

Dexterous hand "TRX-Hand" motor ability:

It has 3 fingers and 8 independently controllable joints, the maximum continuous fingertip force can reach 15 Niu, and the maximum joint speed can rotate 600 degrees per second. The flexible driving fingertip design also effectively improves the anti-impact ability of the fingers.

The high dynamic action such as throwing and connecting requires high real-time performance. At the moment of picking up the object, it is necessary to determine the position and posture of the object in the hand according to the sensor, and plan the high dynamic trajectory. Then, according to the real-time predicted flight trajectory of the object, the optimal interception time, the optimal interception posture and the optimal interception trajectory are calculated in milliseconds to ensure that the objects are intercepted smoothly.

Relying on the head camera, through the iterative estimation of the relative position between objects and the integration of tiny tactile perception, a stable recognition and location of mixing rods and holes can be obtained. Dexterous hands have learned how to handle human needlework: retry immediately after failure, gradually approaching the real hole position and ensuring that the Jack operation is completed.

CTOnews.com officially obtained from Tencent, TRX-Arm is a high-performance seven-degree-of-freedom humanoid robot arm independently developed for the living environment, with the characteristics of dexterous movement, strong explosive force, integrated touch and control, compliance and safety, etc., can load more than 6kg, maximum speed 7.4m / s, maximum acceleration 44.5m / s ².

It adopts the combination of rope drive and differential drive, which not only effectively reduces the transmission friction and motion inertia, but also realizes multi-motor and multi-joint cooperative drive, and has high dynamic motion ability. In addition, the TRX-Arm forearm integrates a tactile array of 768 points, which refreshes at a frequency as high as 1000Hz, enabling high-frequency real-time positioning of the bottle during rolling and balancing.

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