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Shape description of general, curved surfaces using tactile sensing and surface normal information

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

We propose an approach for investigating the shape properties of objects with curved surfaces using tactile sensing by a dexterous robot hand. Our proposed exploratory procedure (EP) uses multiple fingers to slide along a surface while sensing contact points and surface normals. Our approach incorporates the surface normal information into a B-spline surface fit of the data gathered from this EP. This additional surface normal information was found to improve the approximation of the surface. The shape properties of this B-spline surface are analyzed to recognize the shape of the object. A confidence estimate of the estimated shape is also calculated

Published in:

Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on  (Volume:4 )

Date of Conference:

20-25 Apr 1997