E. Petriu, M. A. Greenspan, W. S. McMath, S. Yeung
{"title":"机器人触觉感知系统概念","authors":"E. Petriu, M. A. Greenspan, W. S. McMath, S. Yeung","doi":"10.1109/IMTC.1990.65982","DOIUrl":null,"url":null,"abstract":"An experimental robotic tactile system is under development to characterize and identify three-dimensional (3-D) objects through a procedure of active sequential exploration. The experimental setup is described, and a data fusion technique for precise object identification is presented. Preliminary test results demonstrate that overlapping tactile exploration allows recovery from sensor/target misalignment, enables improved data correlation, and consequently produces a more precise 3-D object identification. Only quasi-static (static kinesthetic plus robot kinematic) tactile sensing has been considered, with the objective of better establishing global 3-D geometric features of the target object.<<ETX>>","PeriodicalId":404761,"journal":{"name":"7th IEEE Conference on Instrumentation and Measurement Technology","volume":"66 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1990-02-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":"{\"title\":\"A robotic tactile perception system concept\",\"authors\":\"E. Petriu, M. A. Greenspan, W. S. McMath, S. Yeung\",\"doi\":\"10.1109/IMTC.1990.65982\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"An experimental robotic tactile system is under development to characterize and identify three-dimensional (3-D) objects through a procedure of active sequential exploration. The experimental setup is described, and a data fusion technique for precise object identification is presented. Preliminary test results demonstrate that overlapping tactile exploration allows recovery from sensor/target misalignment, enables improved data correlation, and consequently produces a more precise 3-D object identification. Only quasi-static (static kinesthetic plus robot kinematic) tactile sensing has been considered, with the objective of better establishing global 3-D geometric features of the target object.<<ETX>>\",\"PeriodicalId\":404761,\"journal\":{\"name\":\"7th IEEE Conference on Instrumentation and Measurement Technology\",\"volume\":\"66 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1990-02-13\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"1\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"7th IEEE Conference on Instrumentation and Measurement Technology\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/IMTC.1990.65982\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"7th IEEE Conference on Instrumentation and Measurement Technology","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/IMTC.1990.65982","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
An experimental robotic tactile system is under development to characterize and identify three-dimensional (3-D) objects through a procedure of active sequential exploration. The experimental setup is described, and a data fusion technique for precise object identification is presented. Preliminary test results demonstrate that overlapping tactile exploration allows recovery from sensor/target misalignment, enables improved data correlation, and consequently produces a more precise 3-D object identification. Only quasi-static (static kinesthetic plus robot kinematic) tactile sensing has been considered, with the objective of better establishing global 3-D geometric features of the target object.<>
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