Object shape perception in blind robot grasping using a wrist force/torque sensor

This paper investigates the modeling of 3D models through haptic exploration in blind scenes. Experimental setup consists of Mitsubishi arm, force/torque sensor and Phantom Omni. A Force/Torque sensor at the wrist of the 6-DOF manipulator is used to acquire data through touching objects in the environment. Robot Operating system (ROS) is implemented to connect the different components on real time. A mathematical model is presented for spherical fingertip to find out the contact location. And, it is experimented in order to proof the concept. Finally, a successful exploration procedure is proposed and applied to model a water bottle.