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A robotic tactile perception system concept

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4 Author(s)
Petriu, E.M. ; Dept. of Electr. Eng., Ottawa Univ., Ont., Canada ; Greenspan, M.A. ; McMath, W.S. ; Yeung, S.S.K.

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

Published in:

Instrumentation and Measurement Technology Conference, 1990. IMTC-90. Conference Record., 7th IEEE

Date of Conference:

13-15 Feb 1990