把持前距離計測と材質検出のための指尖センサとアルゴリズム
A Fingertip Sensor and Algorithms for Pre-touch Distance Ranging and Material Detection in Robotic Grasping
レーザーと超音波を併用した指尖センサで、物体に触れる前に距離を測り材質や内部構造を検出する手法を提案し、走査システムで有効性を実証した。
著者: Cheng Fang, Di Wang, Fengzhi Guo, Jun Zou, Dezhen Song
分類: cs.RO
原文アブストラクト
To enhance robotic grasping capabilities, we are developing new contactless fingertip sensors to measure distance in close proximity and simultaneously detect the type of material and the interior structure. These sensors are referred to as pre-touch dual-modal and dual-mechanism (PDM$^2$) sensors, and they operate using both pulse-echo ultrasound (US) and optoacoustic (OA) modalities. We present the design of a PDM$^2$ sensor that utilizes a pulsed laser beam and a customized ultrasound transceiver with a wide acoustic bandwidth for ranging and sensing. Both US and OA signals are collected simultaneously, triggered by the same laser pulse. To validate our design, we have fabricated a prototype of the PDM$^2$ sensor and integrated it into an object scanning system. We have also developed algorithms to enable the sensor, including time-of-flight (ToF) auto estimation, ranging rectification, sensor and system calibration, distance ranging, material/structure detection, and object contour detection and reconstruction. The experimental results demonstrate that the new PDM$^2$ sensor and its algorithms effectively enable the object scanning system to achieve satisfactory ranging and contour reconstruction performances, along with satisfying material/structure detection capabilities. In conclusion, the PDM$^2$ sensor offers a practical and powerful solution to improve grasping of unknown objects with the robotic gripper by providing advanced perception capabilities.
