软体机器人与触觉传感
软体机器人和触觉传感在操作中的应用：软体驱动器、柔顺机构、触觉传感器技术和基于触觉的操作。
Learning Objectives
1. Why Soft Robotics?
1.1 Rigid vs. Soft Manipulation
1.2 Compliance in Nature
2. Soft Actuators
2.1 Pneumatic Actuators
2.2 Cable-Driven Actuators
2.3 Shape Memory Alloys
3. Compliant Mechanisms
3.1 Underactuated Grippers
3.2 Fin Ray Effect
4. Tactile Sensor Technologies
4.1 Vision-Based Tactile (GelSight/DIGIT)
4.2 Capacitive Sensors
4.3 Piezoresistive Sensors
5. Tactile-Based Manipulation
5.1 Slip Detection
5.2 Texture Recognition
5.3 Force Estimation from Tactile
6. Simulation of Soft Bodies & Tactile
7. ROS 2 Tactile Integration
Exercises
References
