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.



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Proceedings : 1990 IEEE International Conference on Robotics and Automation : May 13-18, 1990. Cincinnati, Ohio.

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Computer Science
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November 12, 2012