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Mapping haptic exploratory procedures to multiple shape representations

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1 Author(s)
P. K. Allen ; Dept. of Comput. Sci., Columbia Univ., New York, NY, USA

Research in human haptics has revealed a number of exploratory procedures (EPs) that are used in determining attributes on an object, particularly shape. This research has been used as a paradigm for building an intelligent robotic system that can perform shape recognition from touch sensing. In particular, a number of mappings between EPs and shape modeling primitives have been found. The choice of shape primitive for each EP is discussed, and results from experiments with a Utah-MIT dextrous hand system are presented. A vision algorithm to complement active touch sensing for the task of autonomous shape recovery is also presented

Published in:

Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on

Date of Conference:

13-18 May 1990