Mapping Haptic Exploratory Procedures to Multiple Shape Representations
Peter K. Allen
- Mapping Haptic Exploratory Procedures to Multiple Shape Representations
- Allen, Peter K.
- Technical reports
- Computer Science
- Permanent URL:
- Columbia University Computer Science Technical Reports
- Part Number:
- Department of Computer Science, Columbia University
- Publisher Location:
- New York
- Research in human haptics has revealed a number of Exploratory Procedures (EP's) that are used in determining attributes of an object, particularly shape. We have used this research as a paradigm for building an intelligent robotic system that can perform shape recognition from touch sensing. In particular, we have found a number of mappings between EP's and shape modeling primitives. In this paper, we discuss the choice of shape primitive for each EP, and present results from experiments with a Utah-MIT dexterous hand system. We also present a vision algorithm to complement active touch sensing for the task of autonomous shape recovery.
- Computer science
- Item views: