Three-dimensional contact imaging with an actuated whisker

Contact sensors can provide high-information-density object surface sensing in harsh and/or opaque environments. This paper describes the design, modeling, control, and data processing of a contact imager consisting of a flexible whisker mounted on a two-axis robot through a load cell. The whisker sweeps around and into contact with unknown objects, determining the three-dimensional location of contact points to within a specified position resolution. During contact, the whisker bends along the surface normal, producing large deflections. The joint angles and load cell signals are numerically processed to determine the whisker shapes. Comparison of whisker shapes during bending determines contact point location. Experimental results for several objects with wide ranging surface curvature and roughness demonstrate 1.51-cm resolution for a 45.5-cm whisker

I. Introduction

Robots and autonomous vehicles operating in unstructured environments require sensor input to make decisions. Obstacle avoidance and identification of environmental objects are necessary for these vehicles to interact with their surroundings. Vehicles often operate in harsh environments with limited communication bandwidth for operator control and video feedback. In obscured environments, traditional sensors may not be useful.