A robot probe detects buried objects in granular materials by learning normal force patterns and stopping when those patterns change, achieving 0.5 to 7 cm of advance warning.
The Journal of the Acoustical Society of America 108(1), 147–156 (2000)
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A Haptic-Based Proximity Sensing System for Buried Object in Granular Material
A robot probe detects buried objects in granular materials by learning normal force patterns and stopping when those patterns change, achieving 0.5 to 7 cm of advance warning.