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Associate Professor Ma Daolin Won ICRA2021 Best Paper Award

June 09, 2021      Author:

Recently, ICRA2021, one of the most influential international academic conferences in the field of robotics, was held in Xi’an, China. Ma Daolin, associate professor of the Department of Engineering Mechanics, SJTU School of Naval Architecture, Ocean and Civil Engineering received the highest honor of the conference—Best Conference Paper Award.

The award-winning paper by Associate Professor Ma Daolin is titled “Extrinsic Contact Sensing with Relative-Motion Tracking from Distributed Tactile Measurements”.

The committee commented that “the paper makes a notable contribution to the important and re-emerging field of tactile perception by solving the problem of contact localization between an unknown held by an imprecise grasp and the unknown environment with which it is in contact. This paper represents an excellent theory-to-practice exercise as the novel proposal of using extrinsic tactile array data to infer contact is verified with a new tactile sensor and real robotic manipulation in a simplified, but realistic environment. The authors also provide a robust and honest discussion of results, both positive and negative, for reader evaluation.”

 

Ma Dolin found that tactile-based motion tracking is the key to accurately perceiving and controlling contact behaviors by fingers, and he achieved for the first time high-precision tactile-based motion tracking of the grasped object, with a measurement accuracy on par with VICON, one of the most accurate non-contact motion tracking system currently available for business.

Based on the ability of motion tracking, the theoretical framework of "external contact perception" is further proposed, which realizes the contact position of the object and the external environment in the task of rich contact operation, such as automatic assembly of robots that rely on tactile positioning. The above-mentioned capabilities provide key state estimation information for realizing tactile servo control, paving the way for intelligent robots to control contact behavior more accurately.

Ma Daolin, associate professor from the Department of Engineering Mechanics, School of Naval Architecture, Ocean and Civil Engineering, is mainly engaged in cutting-edge research in the field of robot operation and tactile perception and control. He has championed the 2017 Amazon Robot Challenge Stow Task and won the Amazon Robot Best System Paper Award.

Organized by IEEE (Institute of Electrical and Electronics Engineers), ICRA (International Conference on Robotics and Automation) has a long history. Many of the most important innovations in the field of robotics and automation were first presented in ICRA. This year ICRA received a total of 4,056 papers, 4 of which were shortlisted for the final evaluation, and only 1 paper was awarded the best paper award.

 

Source: School of Naval Architecture, Ocean and Civil Engineering, SJTU

Translated by Fu Jing

 

Proofread by Xiao Yangning, Fu Yuhe