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.
https://www.cablejoints.co.uk/upload/EZIDIG Excavator Mounted Buried Cable & Pipe Location.pdf, accessed: 2024-07-29
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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.