Referenced Items are not available for this document.
Studies on contact problems such as shape recovery from tactile sensing involve complex geometrics and kinematics. In the first part of the paper we introduce a convenient matrix expression of 3-D surfaces, which can be easily applied to manipulate contact constraints and kinematics equations using homogeneous transformation. In the second part of the paper we apply the notation introduced in the first part and derive an active tactile sensing strategy which consists of a shape sensing algorithm and a touch-based robot control scheme
Published in:
Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on
(Volume:4
)
Date of Conference: 22-28 Apr 1996
- Page(s):
- 3496 - 3501 vol.4
- Meeting Date :
- 22 Apr 1996-28 Apr 1996
- ISSN :
- 1050-4729
- Print ISBN:
- 0-7803-2988-0
- INSPEC Accession Number:
- 5335639
- Conference Location :
- Minneapolis, MN
- Digital Object Identifier :
- 10.1109/ROBOT.1996.509245
- Product Type:
- Conference Publications
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