Exploration of unknown object by active touch of robot hand |
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Authors: | Min Jeong Kim Mina Choi Yong Bum Kim Fengyi Liu Hyungpil Moon Ja Choon Koo Hyouk Ryeol Choi |
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Affiliation: | 1. Hyundai Heavy Industry Company, Yongin, Korea, 446-716 2. School of Mechanical Engineering, Sungkyunkwan University, Suwon, 440-746, Korea
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Abstract: | 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. |
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