Mapping haptic exploratory procedures to multiple shape representations

Articles:

Title:: Mapping haptic exploratory procedures to multiple shape representations
Author(s):: Allen, Peter K.
Date:: 1990
Type:: Articles
Department:: Computer Science
Permanent URL:: http://hdl.handle.net/10022/AC:P:15259
Book/Journal Title:: Proceedings : 1990 IEEE International Conference on Robotics and Automation : May 13-18, 1990. Cincinnati, Ohio.
Publisher:: IEEE
Publisher Location:: Los Alamitos, Calif.
Abstract:: 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.
Subject(s):: Robotics
DOI:: http://dx.doi.org/10.1109/ROBOT.1990.126251