Haptic terrain exploration with robotic arm
نویسنده
چکیده
In search and rescue missions, the sensors on the Absolem mobile robot used in the TRADR project can fail due to environmental conditions like smoke and dust, making further robot operation difficult and dangerous for the robot. In such cases, the robot-mounted robotic arm can be used to gain information about the environment by obtaining tactile measurements from it. We propose an algorithm to guide the arm during the exploration, along with methods to control the arm movement and to gather the measurements with a 3D force sensor from safe distance. The system is implemented and put to the test in both simulated experiments and real world trials.
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