E. Petriu, M. A. Greenspan, W. S. McMath, S. Yeung
{"title":"A robotic tactile perception system concept","authors":"E. Petriu, M. A. Greenspan, W. S. McMath, S. Yeung","doi":"10.1109/IMTC.1990.65982","DOIUrl":null,"url":null,"abstract":"An experimental robotic tactile system is under development to characterize and identify three-dimensional (3-D) objects through a procedure of active sequential exploration. The experimental setup is described, and a data fusion technique for precise object identification is presented. Preliminary test results demonstrate that overlapping tactile exploration allows recovery from sensor/target misalignment, enables improved data correlation, and consequently produces a more precise 3-D object identification. Only quasi-static (static kinesthetic plus robot kinematic) tactile sensing has been considered, with the objective of better establishing global 3-D geometric features of the target object.<<ETX>>","PeriodicalId":404761,"journal":{"name":"7th IEEE Conference on Instrumentation and Measurement Technology","volume":"66 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1990-02-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"7th IEEE Conference on Instrumentation and Measurement Technology","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/IMTC.1990.65982","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 1
Abstract
An experimental robotic tactile system is under development to characterize and identify three-dimensional (3-D) objects through a procedure of active sequential exploration. The experimental setup is described, and a data fusion technique for precise object identification is presented. Preliminary test results demonstrate that overlapping tactile exploration allows recovery from sensor/target misalignment, enables improved data correlation, and consequently produces a more precise 3-D object identification. Only quasi-static (static kinesthetic plus robot kinematic) tactile sensing has been considered, with the objective of better establishing global 3-D geometric features of the target object.<>
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