Determining the axis of a surface of revolution using tactile sensing

Author

Berkemeier, Matthew D. ; Fearing, Ronald S.

Author_Institution

Dept. of Electr. Eng. & Comput. Sci., California Univ., Berkeley, CA, USA

Volume

15

Issue

10

fYear

1993

fDate

10/1/1993 12:00:00 AM

Firstpage

1079

Lastpage

1087

Abstract

Dextrous robot hands need to be able to determine the pose of objects to reliably grasp and manipulate them. The first contacts with an object can be used to provide an initial estimate of this information if the object is constrained to be of a particular class. The authors consider a simple example of exploiting class constraints: finding the axis of an unknown surface of revolution. Three tactile curvature measurements on a surface of revolution with twice-differentiable sweeping rule function are shown to be sufficient for determining the axis except for certain singular configurations. Position and orientation error uncertainties and experimental results are presented for a cylindrical tactile sensor

Keywords

robots; signal processing; tactile sensors; axis determination; cylindrical tactile sensor; object pose determination; orientation error uncertainties; position error uncertainties; surface of revolution; tactile curvature measurements; tactile sensing; twice-differentiable sweeping rule function; Engine cylinders; Fingers; Force feedback; Force sensors; Laboratories; Path planning; Robot sensing systems; Shape measurement; Solid modeling; Tactile sensors;

fLanguage

English

Journal_Title

Pattern Analysis and Machine Intelligence, IEEE Transactions on

Publisher

ieee

ISSN

0162-8828

Type

jour

DOI

10.1109/34.254065

Filename

254065