導電性エラストマーセンサと協働ロボットによる触感SLAMの構築

抄録

SLAM stands for simultaneous localization and mapping, which is used in various fields such as automatic driving and drones. Most environmental maps in SLAM are applied to understanding where things are and avoiding obstacles. However, for safer operation of the system, it is important to understand the environment, including not only the surrounding conditions but also tactile sensations. In this study, we conducted a simple experiment using an elastomer sensor with excellent elasticity and a collaborative robot, and attempted to create an environmental map that can grasp the hardness of the environment. As a result of mapping from position and force data, it was possible to visualize whether the object itself was soft or not, and how it became harder as it was pushed into the object.