"The Design of Sensors for a Teleoperator Robot"
C.M. Witkowski, A.H. Bond and M. Burton
Digital Systems for Industrial Automation, Volume 2, Number 1, 1983, pp. 85-111.
ABSTRACT
This paper describes the Queen Mary College Artificial Intelligence Laboratory Mark 5 mobile computer-controlled robot, a teleoperator device with dual six-degree-of-freedom manipulators. The article concentrates on a comprehensive sensor system incorporating both hardware and software. It shows the design of a gripper with several different sensory modalities and describes in some detail an object and obstacle detection system that uses both the reflection and the transmission of infrared light. Up to 256 individual sensors may be supported on a bus structure that gives a number of advantages over earlier designs.
Reprinted in: Aleksander, I (Ed.) "Computer Techniques for Robots", (1985), London: Kogan Page Ltd., pp. 58-84