A Clamping Perception System Based on Multi-source Sensors for Amphibious Spherical Robots

Chengchao Gu1; Shuxiang Guo1,2; He Yin1; Ao Li1; Bin Wang3; Mingchao Ding3

10.1109/ICMA61710.2024.10633137

2024-08-07

2152-7431

979-8-3503-8808-4

2024 IEEE International Conference on Mechatronics and Automation (ICMA)

4-7 Aug. 2024

Tianjin, China

Robots replacing divers to collect and search underwater is a widely concerned field at present. In order to enable the robot to better complete the grasping task underwater, building a grasp perception system suitable for the robot is helpful for the robot to complete the autonomous grasping task. This paper presents a grasp perception system based on an amphibious robot platform. This system mainly uses four kinds of sensors. They are IMU, pressure sensor, binocular camera, and ultrasonic distance sensor. In order to control the robot to maintain the balance posture in grasping, we combine the data of IMU and pressure sensor, so that the robot can get more posture information. The accurate relative position information between the robot and the target is obtained in real time by fusing the data of binocular camera and ultrasonic ranging. Underwater experiments showed that the robot had good perception ability.

其他

1.The Aerospace Center Hospital, School of Life Science and the Key Laboratory of Convergence Medical Engineering System and Healthcare Technology, Ministry of Industry and Information Technology, Beijing Institute of Technology, Beijing, China
2.The Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen, China
3.The Department of Peripheral Vascular Intervention, Aerospace Center Hospital, School of Life Science, Beijing Institute of Technology, Beijing, China

Chengchao Gu,Shuxiang Guo,He Yin,et al. A Clamping Perception System Based on Multi-source Sensors for Amphibious Spherical Robots[C],2024.