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Mapping Haptic Exploratory Procedures to Multiple Shape Representations

Peter K. Allen

Title:
Mapping Haptic Exploratory Procedures to Multiple Shape Representations
Author(s):
Allen, Peter K.
Date:
Type:
Technical reports
Department:
Computer Science
Permanent URL:
Series:
Columbia University Computer Science Technical Reports
Part Number:
CUCS-475-89
Publisher:
Department of Computer Science, Columbia University
Publisher Location:
New York
Abstract:
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.
Subject(s):
Computer science
Item views:
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Metadata:
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