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A novel electrooptical proximity sensor for robotics: calibration and active sensing

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4 Author(s)
A. Bonen ; Dept. of Electr. & Comput. Eng., Toronto Univ., Ont., Canada ; R. E. Saad ; K. C. Smith ; B. Benhabib

An electrooptical proximity sensor capable of measuring the distance and two-dimensional orientation of an object's surface is presented. The robustness of the sensor, targeted for utilization in robotic active sensing, is achieved via the development of a novel amplitude-modulated-based electrooptical transducer, an electronic-interface circuit that provides very good noise immunity and a wide dynamic operating range, and an effective multi-region calibration process that significantly improves pose-estimations at near proximities. An experimental setup was designed and implemented for the development and verification of the proposed proximity sensor in a simulated robotic environment. Experimental results using a variety of calibrated surfaces and materials are presented and discussed. It is shown that average accuracies of 0.01 mm and 0.03° can be achieved. The robustness of the proximity sensor is also verified for potential use in grasping objects with a priori noncalibrated surfaces

Published in:

IEEE Transactions on Robotics and Automation  (Volume:13 ,  Issue: 3 )