In this paper we consider the problem of recognizing the shape of a 3D object using tactile sensing by a dexterous robot hand. Our approach uses multiple fingers to slide along the surface of the object. From the sensing contact points we extracts a number of 3D points belonging to the surface of the object. The unknown surface Γ of the object is determined by using an “n-ellipsoid” model (Bonnet ). The set of parameters that define the surface Γ is determined such that the n-ellipsoid best fits the set of data points.
- Design Engineering Division and Computers and Information in Engineering Division
A Shape Description Model by Using Sensor Data From Touch
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Chiroiu, V, Munteanu, L, & Nicolescu, CM. "A Shape Description Model by Using Sensor Data From Touch." Proceedings of the ASME 2003 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 5: 19th Biennial Conference on Mechanical Vibration and Noise, Parts A, B, and C. Chicago, Illinois, USA. September 2–6, 2003. pp. 317-321. ASME. https://doi.org/10.1115/DETC2003/VIB-48337
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