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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:
Articles
Department(s):
Computer Science
Persistent URL:
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
Publisher DOI:
https://doi.org/10.1109/ROBOT.1990.126251
Item views
111
Metadata:
text | xml
Suggested Citation:
Peter K. Allen, , Mapping haptic exploratory procedures to multiple shape representations, Columbia University Academic Commons, .

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