Tactile sensing in mobile robots remains under-explored, mainly due to challenges related to sensor integration and the complexities of distributed sensing. In this work, we present a tactile sensing architecture for mobile robots based on wheel-mounted acoustic waveguides. Our sensor architecture enables tactile sensing along the entire circumference of a wheel with a single active component: an off-the-shelf acoustic rangefinder. We present findings showing that our sensor, mounted on the wheel of a mobile robot, is capable of discriminating between different terrains, detecting and classifying obstacles with different geometries, and performing collision detection via contact localization. We also present a comparison between our sensor and sensors traditionally used in mobile robots, and point to the potential for sensor fusion approaches that leverage the unique capabilities of our tactile sensing architecture. Our findings demonstrate that autonomous mobile robots can further leverage our sensor architecture for diverse mapping tasks requiring knowledge of terrain material, surface topology, and underlying structure.
S2M-Trek: From Single to Multi-Sphere Transport via Per-Frame Deep Sets on a Wheel-Legged Robot
School of Mechanical Science and Engineering, Huazhong University of Science and Technology（华中科技大学机械科学与工程学院）；School of Mathematics, Harbin Institute of Technology（哈尔滨工业大学数学学院）
Enabling Tactile Feedback for Robotic Strawberry Handling using AST Skin
Lincoln Institute of Agri-food Technology, University of Lincoln（林肯大学食品农业技术学院）；School of Computer Science, University of Lincoln（林肯大学计算机科学学院）；University of Surrey（萨里大学）
Robotics and Biology Laboratory, Technische Universität Berlin（技术大学柏林机器人与生物学实验室）；Science of Intelligence, Research Cluster of Excellence, Berlin（柏林智能科学卓越研究中心）；Robotics Institute Germany（德国机器人研究所）
UltraTac: Integrated Ultrasound-Augmented Visuotactile Sensor for Enhanced Robotic Perception
Shenzhen Ubiquitous Data Enabling Key Lab, Shenzhen International Graduate School, Tsinghua University（深圳 ubiquitous 数据赋能重点实验室，深圳国际研究生院，清华大学）；RISC-V International Open Source Laboratory（RISC-V国际开源实验室）
Observability-Aware Active Calibration of Multi-Sensor Extrinsics for Ground Robots via Online Trajectory Optimization
Shenzhen Key Laboratory of Control Theory and Intelligent Systems（深圳控制理论与智能系统重点实验室）；Guangdong Provincial Key Laboratory of Fully Actuated System Control Theory and Technology（广东省全驱动系统控制理论与技术省级重点实验室）；Southern University of Science and Technology（南方科技大学）
