# GLoTouch：使用平行夹爪进行无外部视觉的物体搜索、识别与抓取的全局到局部触觉感知

> 原文链接：https://robotics.hellobike.com/papers/2026-09-23-2609-27695
> 频道：papers | 更新日期：2026-09-23 | 标签：arxiv, cs.RO
> 核心摘要：GLoTouch用平行夹爪的全局到局部触觉框架，在仿真和真机中验证无外部视觉的目标搜索、识别与抓取。

# GLoTouch：使用平行夹爪进行无外部视觉的物体搜索、识别与抓取的全局到局部触觉感知

::: v-pre
> 原文链接：[GLoTouch: Global-to-Local Haptic Perception Using a Parallel Gripper for Object Search, Recognition, and Grasping Without External Vision](https://arxiv.org/abs/2609.27695)（arXiv 2609.27695 · 发布日期：2026-09-23）

**GLoTouch: Global-to-Local Haptic Perception Using a Parallel Gripper for Object Search, Recognition, and Grasping Without External Vision**

GLoTouch用平行夹爪的全局到局部触觉框架，在仿真和真机中验证无外部视觉的目标搜索、识别与抓取。

## 核心要点

- 低光或无视觉时，相机难以感知物体位置与几何，需仅凭触觉完成操作。
- 框架连接容器尺度空间探索与物体尺度精细几何感知，并面向低自由度平行夹爪。
- 全局阶段用被动长探针结合作用力和工具几何，估计候选物体位置、粗轮廓与高度。
- 局部阶段放下探针，用双侧视触觉传感器匹配给定3D模型；代码将开源。

**验证范围与局限**：验证范围为仿真和真实机器人实验中的无外部视觉目标搜索、识别与抓取。

## 英文摘要 (Abstract)

Perceiving objects in the environment is a fundamental capability of autonomous robots. In dark or low-light environments, external cameras often fail to reliably perceive object positions and geometry; when visual sensing is unavailable, completing target search, recognition, and grasping through touch alone becomes a key robot manipulation capability. This task must simultaneously address container-scale spatial exploration and object-scale fine-grained geometric perception, which is particularly challenging for low-degree-of-freedom parallel grippers. However, a unified framework remains lacking for connecting container-scale spatial exploration with object-scale fine-grained geometric perception and grasping. To address this challenge, we present \textbf{GLoTouch}, a global-to-local haptic perception and manipulation framework built on a parallel gripper. In the global stage, the gripper holds a passive long-reach probe, combining force measurements with known tool geometry to localize contacts and actively estimate candidate-object positions, coarse contours, and heights. In the local stage, the robot sets down the probe and uses the bilateral visuotactile sensors on the same gripper to directly acquire local haptic observations, which are matched against a given target 3-D model without object-specific training. We evaluate the framework in both simulation and real-robot experiments. Source code will be open-sourced.

作者：Zonglin Li, Wanruo Zhang, Yiming Wang, Kun Song, Xinyi Zhou, Daolin Ma
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## 原始参考来源 (Sources)

- [arXiv 2609.27695：GLoTouch: Global-to-Local Haptic Perception Using a Parallel Gripper for Object Search, Recognition, and Grasping Without External Vision](https://arxiv.org/abs/2609.27695)