Academic Commons

Articles

Mapping haptic exploratory procedures to multiple shape representations

Allen, Peter K.

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.

Subjects

Files

Also Published In

Title
Proceedings : 1990 IEEE International Conference on Robotics and Automation : May 13-18, 1990. Cincinnati, Ohio.
Publisher
IEEE
DOI
https://doi.org/10.1109/ROBOT.1990.126251

More About This Work

Academic Units
Computer Science
Published Here
November 12, 2012