Local object shape from tactile sensing

Studies on contact problems such as shape recovery from tactile sensing involve complex geometrics and kinematics. In the first part of the paper we introduce a convenient matrix expression of 3-D surfaces, which can be easily applied to manipulate contact constraints and kinematics equations using homogeneous transformation. In the second part of the paper we apply the notation introduced in the first part and derive an active tactile sensing strategy which consists of a shape sensing algorithm and a touch-based robot control scheme.

Authors

• Ning Chen
• Raymond E. Rink
• Hong Zhang 0013

Keywords

• Shape
• Kinematics
• Robot sensing systems
• Gears
• Uncertainty
• Robot motion
• Sampling methods
• Contacts
• Transmission line matrix methods
• Equations
• Tactile Sensor
• Local Object Shape
• Part Of The Paper
• Robot Control
• Contact Problem
• Homogeneous Transformation
• Control Strategy
• Rolling
• Quadratic Function
• Contact Point
• Rigid Body
• Matrix Inequalities
• Order Polynomial
• Contact Force
• Object Surface
• Actual Contact
• Least Squares Solution
• Surface Normals
• Tangent Plane
• University Of Alberta
• Object In Frame
• Orientation Of Frame
• Pose Of Frame