粒状材料中の埋没物体に対する触覚ベースの近接センシングシステム
A Haptic-Based Proximity Sensing System for Buried Object in Granular Material
粒状材料中の埋没物体を、プローブと粒子の相互作用による触覚フィードバックとガウス過程回帰で近接検知するシステムを提案し、様々な材料で0.5〜7cm手前から物体を認識できることを示した。
著者: Zeqing Zhang, Ruixing Jia, Youcan Yan, Ruihua Han, Shijie Lin, Qian Jiang, Liangjun Zhang, Jia Pan
分類: cs.RO, physics.flu-dyn, physics.geo-ph, physics.ins-det
原文アブストラクト
The proximity perception of objects in granular materials is significant, especially for applications like minesweeping. However, due to particles' opacity and complex properties, existing proximity sensors suffer from high costs from sophisticated hardware and high user-cost from unintuitive results. In this paper, we propose a simple yet effective proximity sensing system for underground stuff based on the haptic feedback of the sensor-granules interaction. We study and employ the unique characteristic of particles -- failure wedge zone, and combine the machine learning method -- Gaussian process regression, to identify the force signal changes induced by the proximity of objects, so as to achieve near-field perception. Furthermore, we design a novel trajectory to control the probe searching in granules for a wide range of perception. Also, our proximity sensing system can adaptively determine optimal parameters for robustness operation in different particles. Experiments demonstrate our system can perceive underground objects over 0.5 to 7 cm in advance among various materials.
