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Abstract--This paper proposes the use of Electric Field Sensors to implement "pretouch" for robotic grasping. Weakly
 

Summary: Abstract--This paper proposes the use of Electric Field
Sensors to implement "pretouch" for robotic grasping. Weakly
electric fish use this perceptual channel, but it has not received
much attention in robotics. This paper describes a series of
manipulators each of which incorporates Electric Field Sensors
in a different fashion. In each case, the paper presents
techniques for using the sensors, and experimental data
collected. First, a simple dynamic-object avoidance technique
is presented. Next, a 1-D alignment task for grasping is
described. Then linear and rotary electrode scanning
techniques are presented. It is shown that these techniques can
distinguish a small object at close range from a large object
farther away, a capability that may be important for grasping.
I. INTRODUCTION
ision is a long range sense with high spatial resolution.
Tactile sensing can also provide high resolution spatial
information, but at a range of zero. This paper explores the
use of Electric Fields to provide a sense of "pretouch," with
range intermediate between vision and contact-based touch
sensing. Using pretouch, a robotic grasper could align itself

  

Source: Anderson, Richard - Department of Computer Science and Engineering, University of Washington at Seattle

 

Collections: Computer Technologies and Information Sciences