Underwater tactile sensing technology holds considerable promise in close-range perception for underwater vehicle manipulator systems(UVMSs), providing an alternative when other methods fail. Traditional array-based u...Underwater tactile sensing technology holds considerable promise in close-range perception for underwater vehicle manipulator systems(UVMSs), providing an alternative when other methods fail. Traditional array-based underwater tactile sensors face challenges in calibration and performance, such as cross-sensitivity to water pressure and low resolution. In this study, a novel gel-based underwater visuotactile sensor, GelUW,is introduced to address these issues. This sensor achieves high three-dimensional spatial resolution(1 mm × 1 mm in the plane,0.7 mm in depth) in shallow water(50 m). Specifically, waterproofing and pressure-balancing mechanisms are designed to handle water pressure, with comparative experiments demonstrating the robustness of the sensor to pressure variations. A multi-color pattern-based 3D geometry perception pipeline(MCP-3D) is proposed for underwater dynamic contact scenarios to tackle marker mismatches caused by impacts, with tapping experiments revealing its self-repair capabilities and 400% improvement in stability. Furthermore, the GelUW is integrated into a UVMS for object surface perception, and pool experiments confirm its high-precision geometry perception capabilities.Finally, the UVMS equipped with GelUW successfully performs crack detection tasks at the Gezhouba Dam in Yichang, China.展开更多
Tactile sensing enables high-precision 3D shape perception when vision is limited.However,tactilebased shape reconstruction remains a challenging problem.In this paper,a novel visuotactile sensor,GelStereo Palm 2.0,is...Tactile sensing enables high-precision 3D shape perception when vision is limited.However,tactilebased shape reconstruction remains a challenging problem.In this paper,a novel visuotactile sensor,GelStereo Palm 2.0,is proposed to better capture 3D contact geometry.Leveraging the dense tactile point cloud captured by GelStereo Palm 2.0,an active shape reconstruction pipeline is presented to achieve accurate and efficient 3D shape reconstruction on irregular surfaces.GelStereo Palm 2.0 achieves a spatial resolution of 1.5 mm and a reconstruction accuracy of 0.3 mm.The accuracy of the proposed active shape reconstruction pipeline reaches 2.3 mm within 18 explorations.The proposed method has potential applications in the shape reconstruction of transparent or underwater objects.展开更多
基金supported in part by the National Key Research and Development Program of China (2023YFB4707000)the National Natural Science Foundation of China (U24A20282, U24A20281,U23A20343, U23B2038)the Youth Innovation Promotion Association CAS (Y2022053)
文摘Underwater tactile sensing technology holds considerable promise in close-range perception for underwater vehicle manipulator systems(UVMSs), providing an alternative when other methods fail. Traditional array-based underwater tactile sensors face challenges in calibration and performance, such as cross-sensitivity to water pressure and low resolution. In this study, a novel gel-based underwater visuotactile sensor, GelUW,is introduced to address these issues. This sensor achieves high three-dimensional spatial resolution(1 mm × 1 mm in the plane,0.7 mm in depth) in shallow water(50 m). Specifically, waterproofing and pressure-balancing mechanisms are designed to handle water pressure, with comparative experiments demonstrating the robustness of the sensor to pressure variations. A multi-color pattern-based 3D geometry perception pipeline(MCP-3D) is proposed for underwater dynamic contact scenarios to tackle marker mismatches caused by impacts, with tapping experiments revealing its self-repair capabilities and 400% improvement in stability. Furthermore, the GelUW is integrated into a UVMS for object surface perception, and pool experiments confirm its high-precision geometry perception capabilities.Finally, the UVMS equipped with GelUW successfully performs crack detection tasks at the Gezhouba Dam in Yichang, China.
基金supported in part by the National Key Research and Development Program of China(2023YFB4705000)in part by the National Natural Science Foundation of(62303455,62273342,and 62122087)in part by Beijing Natural Science Foundation(L233006).
文摘Tactile sensing enables high-precision 3D shape perception when vision is limited.However,tactilebased shape reconstruction remains a challenging problem.In this paper,a novel visuotactile sensor,GelStereo Palm 2.0,is proposed to better capture 3D contact geometry.Leveraging the dense tactile point cloud captured by GelStereo Palm 2.0,an active shape reconstruction pipeline is presented to achieve accurate and efficient 3D shape reconstruction on irregular surfaces.GelStereo Palm 2.0 achieves a spatial resolution of 1.5 mm and a reconstruction accuracy of 0.3 mm.The accuracy of the proposed active shape reconstruction pipeline reaches 2.3 mm within 18 explorations.The proposed method has potential applications in the shape reconstruction of transparent or underwater objects.
