Here is a system that enables robots to locate and identify buried objects using touch. Digger Finger uses a modified GelSight tactile sensor to locate objects and uses vibration to help clear a path and prevent jamming.
Must see robots & drones:
Digger Finger: Locating and identifying buried objects with robots
When an object is found, Digger Finger twists to perceive more sides of the object to identify it.
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