Title :
A robotic tactile perception system concept
Author :
Petriu, E.M. ; Greenspan, M.A. ; McMath, W.S. ; Yeung, S.S.K.
Author_Institution :
Dept. of Electr. Eng., Ottawa Univ., Ont., Canada
Abstract :
An experimental robotic tactile system is under development to characterize and identify three-dimensional (3-D) objects through a procedure of active sequential exploration. The experimental setup is described, and a data fusion technique for precise object identification is presented. Preliminary test results demonstrate that overlapping tactile exploration allows recovery from sensor/target misalignment, enables improved data correlation, and consequently produces a more precise 3-D object identification. Only quasi-static (static kinesthetic plus robot kinematic) tactile sensing has been considered, with the objective of better establishing global 3-D geometric features of the target object
Keywords :
computer vision; computerised pattern recognition; computerised picture processing; industrial robots; spatial variables measurement; tactile sensors; 3-D object identification; active sequential exploration; array sensors; computer vision; data correlation; quasi-static tactile sensing; robotic tactile perception; sensor/target misalignment; space applications; Force sensors; Humans; Orbital robotics; Robot sensing systems; Sensor phenomena and characterization; Service robots; Space technology; Spatial resolution; Tactile sensors; Transducers;
Conference_Titel :
Instrumentation and Measurement Technology Conference, 1990. IMTC-90. Conference Record., 7th IEEE
Conference_Location :
San Jose, CA
DOI :
10.1109/IMTC.1990.65982
