Surface identification using simple contact dynamics for mobile robots
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Extracting Object Contours with the Sweep of a Robotic Whisker Using Torque Information
International Journal of Robotics Research
International Journal of Robotics Research
Autonomous tactile perception: A combined improved sensing and Bayesian nonparametric approach
Robotics and Autonomous Systems
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Contact sensors can provide high-information-density object surface sensing in harsh and/or opaque environments. This paper describes the design, modeling, control, and data processing of a contact imager consisting of a flexible whisker mounted on a two-axis robot through a load cell. The whisker sweeps around and into contact with unknown objects, determining the three-dimensional location of contact points to within a specified position resolution. During contact, the whisker bends along the surface normal, producing large deflections. The joint angles and load cell signals are numerically processed to determine the whisker shapes. Comparison of whisker shapes during bending determines contact point location. Experimental results for several objects with wide ranging surface curvature and roughness demonstrate 1.51-cm resolution for a 45.5-cm whisker