Fig. 2: Overview of the procedure for uncalibrated touching using Embodied Visual Representation.
A The robot oscillates by applying an open loop control input \(\sin (t)\) while measuring the size of the touching target in the visual field as ΦW. B Embodied Visuomotor Representation uses the control input and visual information to estimate x1/b and d/b, which are the size of and distance to the target in the embodied unit. C With the size of the target known, it is possible to approach the target at a desired safe contact speed, vs, using closed-loop control. In the closed loop, the effect of the unknown embodied gain b cancels except for its interaction with the setpoint vs. D Upon making contact with the target, the distance between the camera and the target is the size of the body wl in the embodied unit. E The procedure can be repeated, by approaching from different directions, to approximate the convex hull of the robot.
