AmbiSense: Acoustic Field Based Blindspot-Free Proximity Detection and Bearing Estimation
2023 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)(2023)
摘要
In this paper, we present AmbiSense, an acoustic field based sensing system that performs proximity detection and bearing estimation for safer physical human-robot interactions. A single low cost piezoelectric transducer is used to setup this novel acoustic sensing modality to create a blindspot-free sound field engulfing a robot arm. Two detection algorithms leveraging spectral information from reflected audio waves of objects entering the acoustic field are proposed to infer object presence and bearing. We also present a new receiver structure which improves signal to noise ratio (SNR). AmbiSense is paired with a collision avoidance inverse kinematic solver for real world deployment on a Kinova Gen3 robot. Validation is performed using ten test objects generating 2000 proximity and bearing estimation events in real world settings, we show that AmbiSense detects proximity with 93.8% sensitivity and 96.6% specificity. It estimates bearing and maps it to three zones on a robot link with 100% sensitivity and specificity, while using fewer sensors than state of the art methods for similar coverage.
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