Determining the Axis of a Surface of Revolution Using Tactile Sensing

Authors:
M. D. Berkemeier;R. S. Fearing
Affiliations:
-;-
Venue:
IEEE Transactions on Pattern Analysis and Machine Intelligence
Year:
1993

Citing 5
Cited 1

The representation, recognition, and locating of 3-d objects

International Journal of Robotics Research
Shape from probing

Journal of Algorithms
On the recognition of parameterized objects

Proceedings of the 4th international symposium on Robotics Research
Tactile sensing for shape interpretation

Dextrous robot hands
A Tactile Sensing Strategy for Model-Based Object Recognition

A Tactile Sensing Strategy for Model-Based Object Recognition

Recognizing 3D Objects Using Tactile Sensing and Curve Invariants

Journal of Mathematical Imaging and Vision

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Abstract

Dextrous robot hands need to be able to determine the pose of objects to reliably grasp and manipulate them. The first contacts with an object can be used to provide an initial estimate of this information if the object is constrained to be of a particular class. The authors consider a simple example of exploiting class constraints: finding the axis of an unknown surface of revolution. Three tactile curvature measurements on a surface of revolution with twice-differentiable sweeping rule function are shown to be sufficient for determining the axis except for certain singular configurations. Position and orientation error uncertainties and experimental results are presented for a cylindrical tactile sensor.