4 accepted papers
In this paper, we present AmbiSense, an acoustic field based sensing system that performs proximity detection and bearing estimation for safer physical human-robot interactions. A single low cost piezoelectric transducer is used to setup this novel acoustic sensing modality to create a blindspot-fre…
Robot end effectors with proximity detection and contact sensing capabilities can reactively position the gripper to align objects and ensure successful grasps. In this paper, we introduce SonicFinger, an acoustic aura based sensing system capable of full-surface pre-touch and contact sensing. A sin…
This letter studies the problem of controlling the sliding motion of an object held by a robot manipulator. We show how a parallel-jaw gripper can reliably control the motion of a rigid, prism-like object by 1) estimating the object's sliding velocity using measurements from tactile sensors at the g
Collision detection is critical for safe robot operation in the presence of humans. Acoustic information originating from collisions between robots and objects provides opportunities for fast collision detection and localization; however, audio information from microphones on robot manipulators need…