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Curvature based shape estimation using tactile sensing

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3 Author(s)
Charlebois, M. ; Exp. Robotics Lab., Simon Fraser Univ., Burnaby, BC, Canada ; Gupta, K. ; Payandeh, S.

Proposes an approach-“Blind Man's” approach-to shape description in which tactile information is sensed from the fingertips of a dexterous hand. Using this contact information, we investigate two complementary methods for curvature estimation. The first method is based on rolling one finger to estimate curvature at a point on the surface. We use Montana's equations for estimating curvature at a point using simulations and analyze the sensitivity of the approach to noise. The second method uses multiple fingers to slide along a surface while sensing contact points and surface normals. We present a method to extract the shape properties of a patch obtained by fitting a B-spline surface to this multi-fingered sweep across the surface of the object. The method enables us to extract higher level shape information based on the curvature properties of patch

Published in:

Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on  (Volume:4 )

Date of Conference:

22-28 Apr 1996