飛行ロボットの多点接触インタラクションのための光学式触覚センシング：設計・統合・評価
Optical Tactile Sensing for Aerial Multi-Contact Interaction: Design, Integration, and Evaluation
ドローン底部に搭載する曲面ソフト表面の光学式触覚センサを開発し、2cm間隔の複数接触点の3D位置と力をリアルタイム推定して、着陸や障害物マッピングに応用した。
著者: Emanuele Aucone, Carmelo Sferrazza, Manuel Gregor, Raffaello D'Andrea, Stefano Mintchev
分類: cs.RO
原文アブストラクト
Distributed tactile sensing for multi-force detection is crucial for various aerial robot interaction tasks. However, current contact sensing solutions on drones only exploit single end-effector sensors and cannot provide distributed multi-contact sensing. Designed to be easily mounted at the bottom of a drone, we propose an optical tactile sensor that features a large and curved soft sensing surface, a hollow structure and a new illumination system. Even when spaced only 2 cm apart, multiple contacts can be detected simultaneously using our software pipeline, which provides real-world quantities of 3D contact locations (mm) and 3D force vectors (N), with an accuracy of 1.5 mm and 0.17 N respectively. We demonstrate the sensor's applicability and reliability onboard and in real-time with two demos related to i) the estimation of the compliance of different perches and subsequent re-alignment and landing on the stiffer one, and ii) the mapping of sparse obstacles. The implementation of our distributed tactile sensor represents a significant step towards attaining the full potential of drones as versatile robots capable of interacting with and navigating within complex environments.
