2022
DOI: 10.1109/lra.2022.3191955
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Autonomous Tactile Localization and Mapping of Objects Buried in Granular Materials

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Cited by 5 publications
(2 citation statements)
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“…The multimodal sensing (vibration, internal fluid pressure, fingerpad deformation) was shown to provide additional information important for classification compared to single modalities. This work was expanded upon to develop a framework for robotic tactile perception, mapping, and haptic exploration in granular media, which used a physics-based sensor model of the tactile measurements [ 23 ]. Using a similar approach, Patel et al [ 24 ] demonstrated object identification in granular media using a robotic finger equipped with a modified GelSight sensor [ 25 ], a type of visuotactile sensor.…”
Section: Related Workmentioning
confidence: 99%
“…The multimodal sensing (vibration, internal fluid pressure, fingerpad deformation) was shown to provide additional information important for classification compared to single modalities. This work was expanded upon to develop a framework for robotic tactile perception, mapping, and haptic exploration in granular media, which used a physics-based sensor model of the tactile measurements [ 23 ]. Using a similar approach, Patel et al [ 24 ] demonstrated object identification in granular media using a robotic finger equipped with a modified GelSight sensor [ 25 ], a type of visuotactile sensor.…”
Section: Related Workmentioning
confidence: 99%
“…Recent work has demonstrated that objects surrounded by GM can be detected by measuring the forces arising due to granular pressure around an obstacle. [ 29 ] However, it is unclear if such detection can be performed by a mobile robot with appendages that require movement over a large range through the GM.…”
Section: Introductionmentioning
confidence: 99%