Dynamic Sensing of an Embedded Object Using Laser, Camera, and Collaborative Robot

This paper focuses on the application of a collaborative robot in dynamic sensing of embedded objects. Dynamic sensing is a way to characterize embedded objects using optical sensors and dynamically moving robots. Here, we use diffuse optical imaging techniques to determine the mechanical properties of an embedded object. The dynamic sensing is split into two phases. In the first phase, the location of the target is estimated. Then in the second phase, the embedded object's size and depth are estimated. The results of this paper demonstrate a dynamic sensing method that estimates location, size, and depth of embedded objects autonomously using a collaborative robot. The size and depth estimation yielded an error of 11.1 % and 90% respectively.