A Tactile Sensing System for Underwater Manipulation
Peter Kampmann, Frank Kirchner
In Proceedings of the workshop on: Advances in Tactile Sensing and Touch based Human-Robot Interaction to be held in conjunction with the 7th ACM/IEEE International Conference on Human-Robot Interaction (HRI 2012), (HRI-12), 05.3.-08.3.2012, Boston, Massachusetts, o.A., Mar/2012.
Abstract
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A tactile camera is a sensing system allows robotic systems to orientate and explore their surroundings by purely relying on tactile information. Real world application scenario for such devices are hazy water conditions where underwater robotic systems need to work.
Building up such a system for underwater includes several challenges which need to be considered while chosing appropriate sensors. We describe our sensor system, the electronical interface and show that local sensor data preprocessing is necessary in this system and how we want to realise this.
Keywords
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tactile sensing, underwater, local preprocessing, multi-modal, processing architecture