无需校准即可在机器人曲面安装传感器，实现大范围障碍物检测。
Form-Fitting, Large-Area Sensor Mounting for Obstacle Detection
- 用CAD生成可贴合复杂曲面的柔性传感皮肤，自动定位传感器
- 在弗兰卡研究3机器人上部署多台飞行时间相机，构建周围障碍物点云
- 适合需要快速部署、无标定需求的机器人感知系统开发者
我们提出一种低成本方法，将传感器安装于机器人连杆上以实现大范围感知覆盖，且无需预先校准传感器的位置或朝向。通过计算机辅助设计（CAD），可程序化生成贴合非可展表面（即无法无畸变展开为二维平面的三维曲面）的机器人皮肤单元。该皮肤单元嵌入任意尺寸的PCB支架，确保传感器处于固定且已知的位置。我们通过在弗兰卡研究3机器人机械臂上安装由3D打印皮肤单元支撑的多台飞行时间（ToF）成像仪，成功构建了机器人操作环境周边障碍物的点云图像。
原文摘要 · Abstract (English)
We introduce a low-cost method for mounting sensors onto robot links for large-area sensing coverage that does not require the sensor's positions or orientations to be calibrated before use. Using computer aided design (CAD), a robot skin covering, or skin unit, can be procedurally generated to fit around a nondevelopable surface, a 3D surface that cannot be flattened into a 2D plane without distortion, of a robot. The skin unit embeds mounts for printed circuit boards of any size to keep sensors in fixed and known locations. We demonstrate our method by constructing point cloud images of obstacles within the proximity of a Franka Research 3 robot's operational environment using an array of time of flight (ToF) imagers mounted on a printed skin unit and attached to the robot arm.
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