High-Speed High-Precision Proximity Sensor for Detection of Tilt, Distance, and Contact
High-Speed High-Precision Proximity Sensor for Detection of Tilt, Distance, and Contact
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DOI：
10.1109/lra.2018.2850975
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发表时间：
2018-10-01
影响因子：
5.2
通讯作者：
Ishikawa, Masatoshi
中科院分区：
文献类型：
--
作者：
Koyama, Keisuke;Shimojo, Makoto;Ishikawa, Masatoshi
我们开发了一个指尖大小的接近传感器，它检测到的距离和倾斜角度的一个对象的表面的峰到峰距离误差小于1/129（< 31 μ m）和测量时间小于1/10（< 1毫秒）的现有传感器。此外，我们还实现了用配备传感器的高速机器人手捕捉易碎物体（纸气球）的任务。高速、高精度的传感功能可实现与接触力无关的接触检测。我们描述了一个强大的接触检测方法，不依赖于反射率，倾斜角，或目标物体表面的形状。在实验中，我们证实，传感器可以测量的距离为2.85-20毫米（分辨率：44 μ m在< 3毫米）和倾斜角度为+/- 45度（误差：1.47度）的反射率为18%和90%的对象。我们证明了当从大约20厘米的高度落下时，手可以抓住纸气球而不会压碎它。
We developed a fingertip-size proximity sensor that detects the distance to and the tilt angle of the surface of an object with the peak-to-peak distance error less than 1/129th (< 31 mu m) and the measuring time less than 1/10th (< 1 ms) those of existing sensors. In addition, we realized the task of catching a fragile object (paper balloon) with a high-speed robot hand equipped with the sensor. High-speed, high-precision sensing enables contact detection independently of the contact force. We describe a robust contact detection method that does not depend on the reflectance, the tilt angle, or the shape of target objects surface. In experiments, we confirmed that the sensor could measure a distance of 2.85-20 mm (resolution: 44 mu m in < 3 mm) and a tilt angle of +/- 45 degrees (error: 1.47 degrees) for objects with reflectances of 18% and 90%. We demonstrated that the hand could catch the paper balloon when dropped from a height of about 20 cm without crushing it.