Exploration of unknown object by active touch of robot hand

被引：0
作者：
Min Jeong Kim
Mina Choi
Yong Bum Kim
Fengyi Liu
Hyungpil Moon
Ja Choon Koo
Hyouk Ryeol Choi
机构：
[1] Hyundai Heavy Industry Company,School of Mechanical Engineering
[2] Sungkyunkwan University,undefined
来源：
International Journal of Control, Automation and Systems | 2014年 / 12卷
关键词：
Active sensing; curvature; exploration; force/torque sensor; hand-arm system;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
This paper proposes a method of exploring the local shape of an unknown object using the force and torque information obtained from active touch. In the first, we present a method to estimate an unknown curvature, using rolling and sliding motion with a force/torque sensor attached to the fingertip of the hand. Then, the normal curvature equation from 2D curvatures is obtained. Finally we present a reconstruction algorithm of local geometry by using a normal curvature equation, which is composed of principal curvatures and principal directions. The method is tested by using a hand-arm system consisting of an industrial robot arm and an anthropomorphic robot hand with 6-axis force/torque sensor. The feasibility of the proposed method is experimentally validated for objects with simple geometries such as cylinder, spheres etc.
引用
收藏
页码：406 / 414
页数：8
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