Development of a robust electro-optical proximity sensor

Bonen, A.; Smith, K.C.; Benhabib, B.

doi:10.1109/iros.1993.583274

Cited by 4 publications

(8 citation statements)

References 9 publications

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“…The amplitude and phase of the light vary as a function of the distance to the surface, its orientation, and other properties of the surface material (reflectance, texture, etc.) [1]. In amplitude-modulated proximity sensor design, the most commonly preferred method, these variations in amplitude can be converted into pose estimates by measuring the response from constellations of at least three receivers focused at the same point on the target surface [1], [12], [21].…”

Section: Optical Sensor Hardwarementioning

confidence: 99%

“…To avoid complications in modeling the sensor data, most approaches, including ours, offset the sensors from the surface of the gripper to maximize the far field sensor response. Although this sacrifices the higher sensitivity of the near field, the longer range of the far field is better suited to grasping applications [1].…”

Section: Optical Sensor Hardwarementioning

confidence: 99%

“…In pre-touch sensing, gripper-mounted, short-range (0-4cm) proximity sensors are used to estimate the absolute distance and orientation (collectively called surface pose) of a desired contact location without requiring the robot to touch the object [18]. The vast majority of these pretouch proximity sensors use optical methods because of their high precision [1], [7], [21], [9], [10]. Optical sensors, however, are highly sensitive to surface reflection properties.…”

Section: Introductionmentioning

confidence: 99%

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Reactive grasping using optical proximity sensors

Hsiao

Nangeroni

Huber

et al. 2009

2009 IEEE International Conference on Robotics and Automation

145

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We propose a system for improving grasping using fingertip optical proximity sensors that allows us to perform online grasp adjustments to an initial grasp point without requiring premature object contact or regrasping strategies. We present novel optical proximity sensors that fit inside the fingertips of a Barrett Hand, and demonstrate their use alongside a probabilistic model for robustly combining sensor readings and a hierarchical reactive controller for improving grasps online. This system can be used to complement existing grasp planning algorithms, or be used in more interactive settings where a human indicates the location of objects. Finally, we perform a series of experiments using a Barrett hand equipped with our sensors to grasp a variety of common objects with mixed geometries and surface textures.

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Section: Optical Sensor Hardwarementioning

confidence: 99%

Section: Optical Sensor Hardwarementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Reactive grasping using optical proximity sensors

Hsiao

Nangeroni

Huber

et al. 2009

2009 IEEE International Conference on Robotics and Automation

145

View full text Add to dashboard Cite

show abstract

“…For its utilization in typical robotic-grasping tasks, the proximity sensor is required to be capable of measuring distances of up to 40 mm, and 2-degree-of-freedom (dof) orientation equivalent to an overall inclination of up to 30 [13]. The use of a single integrated transducer, capable of measuring distance as well as orientation, was deemed to be desirable in our work.…”

Section: B Design Of the Proposed Transducermentioning

confidence: 99%

“…An experimental setup was developed for fully-automatic measurement-acquisition control and object-surface-motion control (Fig. 9) [13]. In this setup, the "real world" six degrees-of-freedom (6-dof) gripper motion was simulated by a 3-dof motion of the object, specifically, distance to the sensor , and vertical and horizontal orientations of the surface normal relative to the sensor's surface normal.…”

Section: A Setupmentioning

confidence: 99%

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

Bonen

Saad

Smith

et al. 1997

IEEE Trans. Robot. Automat.

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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 multiregion 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.

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A novel optoelectronic interface-circuit design for sensing applications

Bonen

Saad

Smith

et al. 1996

IEEE Trans. Instrum. Meas.

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A new and practical opto-electronic sensor interface is presented. It consists of a transmitter and a receiver for sensors measuring optical attenuation. Emphasis is given to commonlyneglected background-noise-interference and dynamic-rangelimitation problems. The design of the electronic circuitry allows sensors to operate in manufacturing environments. A modulated laser-diode, together with optical and electrical filtering, reduces the optical noise to less than a measurable level, even in extremely bright "light-infested" surroundings. In addition, a novel approach is introduced which substantially increases the sensor's dynamic range. The power of the light-source is monitored in a dynamic intensity-control loop designed to perform "floating-point" measurements according to the attenuation in the optical path. The sensor acquires the combined dynamic ranges of the detector and light-source circuits.

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Development of a robust electro-optical proximity sensor

Cited by 4 publications

References 9 publications

Reactive grasping using optical proximity sensors

Reactive grasping using optical proximity sensors

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

A novel optoelectronic interface-circuit design for sensing applications

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