Mapping Haptic Exploratory Procedures to Multiple Shape Representations

Allen, Peter K.

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.



More About This Work

Academic Units
Computer Science
Department of Computer Science, Columbia University
Columbia University Computer Science Technical Reports, CUCS-475-89
Published Here
January 11, 2012