Title :
Local object shape from tactile sensing
Author :
Chen, Ning ; Rink, Ray ; Zhang, Hong
Author_Institution :
Dept. of Electr. Eng., Alberta Univ., Edmonton, Alta., Canada
Abstract :
Studies on contact problems such as shape recovery from tactile sensing involve complex geometrics and kinematics. In the first part of the paper we introduce a convenient matrix expression of 3-D surfaces, which can be easily applied to manipulate contact constraints and kinematics equations using homogeneous transformation. In the second part of the paper we apply the notation introduced in the first part and derive an active tactile sensing strategy which consists of a shape sensing algorithm and a touch-based robot control scheme
Keywords :
manipulator kinematics; matrix algebra; path planning; position measurement; tactile sensors; 3-D surfaces; active tactile sensing strategy; complex geometrics; complex kinematics; contact problems; homogeneous transformation; local object shape; shape sensing algorithm; tactile sensing; touch-based robot control scheme; Contacts; Equations; Gears; Kinematics; Robot motion; Robot sensing systems; Sampling methods; Shape; Transmission line matrix methods; Uncertainty;
Conference_Titel :
Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on
Conference_Location :
Minneapolis, MN
Print_ISBN :
0-7803-2988-0
DOI :
10.1109/ROBOT.1996.509245
