Exploration of unknown object by active touch of robot hand

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...

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Bibliographic Details
Published in:International journal of control, automation, and systems 2014, Automation, and Systems, 12(2), , pp.406-414
Main Authors: Kim, Min Jeong, Choi, Mina, Kim, Yong Bum, Liu, Fengyi, Moon, Hyungpil, Koo, Ja Choon, Choi, Hyouk Ryeol
Format: Article
Language:English
Subjects:
Active control
Anthropomorphism
Automation
Control
Control algorithms
Curvature
Cylinders
Engineering
Friction
Geometry
Kinematics
Mathematical analysis
Mechatronics
Regular Papers
Robotics
Robots
Sensors
Statistical analysis
Torque
Touch
Tracking control systems
제어계측공학
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Summary: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.
ISSN:1598-6446
2005-4092
DOI:10.1007/s12555-013-0328-x