Proximity perception is a technology that has the potential to play an essential role in the future of robotics. It can fulfill the promise of safe, robust, and autonomous systems in industry and everyday life, alongside humans, as well as in remote locations in space and underwater. In this survey paper, we cover the developments of this field from the early days up to the present, with a focus on human-centered robotics. Here, proximity sensors are typically deployed in two scenarios: first, on the exterior of manipulator arms to support safety and interaction functionality, and second, on the inside of grippers or hands to support grasping and exploration. Starting from this observation, we propose a categorization for the approaches found in the literature. To provide a basis for understanding these approaches, we devote effort to present the technologies and different measuring principles that were developed over the years, also providing a summary in form of a table. Then, we show the diversity of applications that have been presented in the literature. Finally, we give an overview of the most important trends that will shape the future of this domain.
翻译:近距离感知是一种技术,有可能在机器人的未来发挥必不可少的作用。它可以实现工业和日常生活中安全、稳健和自主系统以及人类、空间和水下偏远地点的安全、稳健和自主系统的承诺。在本调查文件中,我们从最初几天到现在都介绍了该领域的发展情况,重点是以人为中心的机器人。这里,近距离感应器通常在两种情景中部署:第一,在操纵器臂外部支持安全和互动功能,第二,在握手或手内部支持掌握和探索。从这一观察开始,我们建议对文献中发现的方法进行分类。为了解这些方法提供基础,我们致力于介绍这些年来所开发的技术和不同的衡量原则,并以表格的形式提供摘要。然后,我们展示文献中介绍的各种应用。最后,我们概述了将决定这一领域未来的最重要的趋势。