Tactile robotic mapping of unknown surfaces: An application to oil well exploration
Author(s)Mazzini, Francesco; Kettler, Daniel; Dubowsky, Steven; Guerrero, Julio Cesar
DownloadMazzini-2009-Tactile robotic mapping of unknown surfaces An application to oil well exploration.pdf (1.083Mb)
MetadataShow full item record
World oil demand and advanced oil recovery techniques have made it economically attractive to rehabilitate previously abandoned oil wells. This requires relatively fast mapping of the shape and location of the down-hole well structures. Practical factors prohibit the use of visual and other range sensors in this situation. Here, the feasibility of robotic tactile mapping is studied. A method is developed that only uses the robot joint encoders and avoids any force or tactile sensor, which are complex and unreliable in such a hostile environment. This paper addresses the general problem of intelligent tactile exploration of constrained internal geometries where time is critical. It is assumed that the time required to move a manipulator to acquire a new touch point outweighs computational time. This approach models the down-hole structures with geometric primitives and focuses on exploration efficiency by intelligently searching for new touch points to build the geometric models. The algorithms developed here are shown in simulations and hardware experiments to substantially reduce the data acquisition effort for exploration with a tactile manipulator.
DepartmentMassachusetts Institute of Technology. Department of Mechanical Engineering
IEEE International Workshop on Robotic and Sensors Environments, 2009. ROSE 2009.
Institute of Electrical and Electronics Engineers
Mazzini, F. et al. “Tactile robotic mapping of unknown surfaces: an application to oil well exploration.” Robotic and Sensors Environments, 2009. ROSE 2009. IEEE International Workshop on. 2009. 80-85. © Copyright 2010 IEEE
Final published version
INSPEC Accession Number: 11022494