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서지반출
Exploration of Unknown Object by Active Touch of Robot Hand
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  • Exploration of Unknown Object by Active Touch of Robot Hand
  • Exploration of Unknown Object by Active Touch of Robot Hand
저자명
Kim. Min Jeong,Choi. Mina,Kim. Yong Bum,Liu. Fengyi,Moon. Hyungpil,Koo. Ja Choon,Choi. Hyouk Ryeol
간행물명
International Journal of Control, Automation and Systems
권/호정보
2014년|12권 2호|pp.406-414 (9 pages)
발행정보
제어로봇시스템학회
파일정보
정기간행물|ENG|
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기타
이 논문은 한국과학기술정보연구원과 논문 연계를 통해 무료로 제공되는 원문입니다.
서지반출

기타언어초록

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.