Form-Fitting, Large-Area Sensor Mounting for Obstacle Detection

• URL: http://arxiv.org/abs/2603.23725v1
• Date: Tue, 24 Mar 2026 21:20:57 GMT
• Title: Form-Fitting, Large-Area Sensor Mounting for Obstacle Detection
• Abstract summary: We introduce a low-cost method for mounting sensors onto robot links for large-area sensing coverage.<n>Using computer aided design (CAD), a robot skin covering, or skin unit, can be procedurally generated to fit around a nondevelopable surface.<n>The skin unit embeds mounts for printed circuit boards of any size to keep sensors in fixed and known locations.
• Score: 99.11587290390071
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: We introduce a low-cost method for mounting sensors onto robot links for large-area sensing coverage that does not require the sensor's positions or orientations to be calibrated before use. Using computer aided design (CAD), a robot skin covering, or skin unit, can be procedurally generated to fit around a nondevelopable surface, a 3D surface that cannot be flattened into a 2D plane without distortion, of a robot. The skin unit embeds mounts for printed circuit boards of any size to keep sensors in fixed and known locations. We demonstrate our method by constructing point cloud images of obstacles within the proximity of a Franka Research 3 robot's operational environment using an array of time of flight (ToF) imagers mounted on a printed skin unit and attached to the robot arm.

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