Mapping haptic exploratory procedures to multiple shape representations

Author

Allen, Peter K.

Author_Institution

Dept. of Comput. Sci., Columbia Univ., New York, NY, USA

fYear

1990

fDate

13-18 May 1990

Firstpage

1679

Abstract

Research in human haptics has revealed a number of exploratory procedures (EPs) that are used in determining attributes on an object, particularly shape. This research has been used as a paradigm for building an intelligent robotic system that can perform shape recognition from touch sensing. In particular, a number of mappings between EPs and shape modeling primitives have been found. The choice of shape primitive for each EP is discussed, and results from experiments with a Utah-MIT dextrous hand system are presented. A vision algorithm to complement active touch sensing for the task of autonomous shape recovery is also presented

Keywords

computer vision; computerised pattern recognition; inference mechanisms; robots; Utah-MIT; autonomous shape recovery; computerised pattern recognition; dextrous hand system; haptic exploratory procedures; intelligent robotic system; machine vision; mappings; multiple shape representations; shape primitive; shape recognition; touch sensing; vision algorithm; Computer science; Fingers; Grasping; Haptic interfaces; Humans; Intelligent robots; Robot sensing systems; Robotic assembly; Shape; Surface fitting;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on

Conference_Location

Cincinnati, OH

Print_ISBN

0-8186-9061-5

Type

conf

DOI

10.1109/ROBOT.1990.126251

Filename

126251