Haptic object recognition with a dextrous hand based on volumetric shape representations

Author

Caselli, Stefano ; Magnanini, Corrado ; Zanichelli, Francesco

Author_Institution

Dipartimento di Ingegneria dell´´Informazione, Universita di Parmay, Italy

fYear

1994

fDate

2-5 Oct 1994

Firstpage

280

Lastpage

287

Abstract

A haptic object recognition methodology suitable for application with a multifingered robot hand is presented. The methodology exploits the peculiar features of robot hands such as their distributed sensoriality and parallel kinematics for fast acquisition of contact data, and is based on volumetric representation models for efficient dynamic integration of the perceived information. Experimental results demonstrate the effectiveness and applicability of the methodology to non-trivial examples

Keywords

data acquisition; manipulators; object recognition; sensor fusion; tactile sensors; contact data acquisition; dextrous hand; distributed sensoriality; haptic object recognition; multifingered robot hand; parallel kinematics; tactile sensing; volumetric shape representations; Fingers; Haptic interfaces; Kinematics; Object recognition; Robot sensing systems; Sensor arrays; Sensor fusion; Sensor phenomena and characterization; Shape; Tactile sensors;

fLanguage

English

Publisher

ieee

Conference_Titel

Multisensor Fusion and Integration for Intelligent Systems, 1994. IEEE International Conference on MFI '94.

Conference_Location

Las Vegas, NV

Print_ISBN

0-7803-2072-7

Type

conf

DOI

10.1109/MFI.1994.398442

Filename

398442