Vision Based Active Antenna

本文讨论了一种基于视觉的有源天线，它可以通过相机观察天线的形状来检测不敏感弹性天线与环境之间的接触力、环境的刚度和接触位置。我们证明了接触位置和接触力都可以通过测量天线上的任意两个点来估计，即使精确的接触点被遮挡隐藏。通过考虑接触点的虚（有环境）位移和实（有环境）位移之间的几何关系，还可以估计环境的刚度。我们通过添加一个单轴力矩传感器将这一原理扩展到3D环境。通过利用天线的形状映射到校准平面上，视觉传感器可以同时提供接触距离和平面上的力分量。力矩传感器的输出允许我们计算垂直于平面的力分量。这个系统甚至可以在一个兼容的对象下工作。研究表明，视觉与力矩传感器之间的耦合效应取决于CCD相机的实现角度。

This work discusses the Vision Based Active Antenna that can detect the contact force, the stiffness of the environment, and the contact location between an insensitive elastic antenna and an environment, through the observation of the antenna's shape by a camera. We show that both the contact location and the contact force can be estimated by measuring two arbitrary points on the antenna after a pushing motion, even though the exact contact point is hidden by occlusion. By considering the geometrical relationship between the virtual (with environment) and the real (with environment) displacements of the contact point, the stiffness of the environment can also be estimated. We extend this principle to 3D environment by adding to a one-axis moment sensor. By utilizing the antenna's shape mapped into the calibration plane, the vision sensor can provide both the contact distance and a force component on the plane. The moment sensor output allows us to evaluate the force comopnent normal tothe plane.This system can work even under a compliant object. We show that the coupling effect between vision and moment sensor depends on the implementation angle of the CCD camera.