Title :
Active tactile perception of object surface geometric profiles
Author :
Petriu, Emil M. ; McMath, William S. ; Yeung, Stephen S K ; Trif, Niculaie
Author_Institution :
Dept. of Electr. Eng., Ottawa Univ., Ont., Canada
fDate :
2/1/1992 12:00:00 AM
Abstract :
The authors discuss an experimental robotic system using a 16×16 tactile sensor and an instrumented passive-compliant wrist developed specifically for the active (exploratory) perception of geometric profiles of object surfaces. A 2-D correlation technique is used to recover from planar position errors which occur during the sequential tactile probing
Keywords :
correlation methods; robots; signal processing; spatial variables measurement; tactile sensors; 2D correlation; active tactile perception; error recovery; object surface geometric profiles; overlapped tactile probing; passive-compliant wrist; planar position errors; robots; sequential tactile probing; tactile sensor; Force measurement; Force sensors; Instruments; Orbital robotics; Probes; Robot sensing systems; Service robots; Space technology; Tactile sensors; Wrist;
Journal_Title :
Instrumentation and Measurement, IEEE Transactions on
