Determining object geometry with compliance and simple sensors

DSpace/Manakin Repository

Determining object geometry with compliance and simple sensors

Citable link to this page

 

 
Title: Determining object geometry with compliance and simple sensors
Author: Jentoft, Leif Patrick; Howe, Robert D.

Note: Order does not necessarily reflect citation order of authors.

Citation: Jentoft, Leif P., and Robert D. Howe. 2011. “Determining Object Geometry with Compliance and Simple Sensors.” In the Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, San Francisco, CA, September 25-30, 2011: 3468-3473.
Full Text & Related Files:
Abstract: To determine object geometry in unstructured environments, sensors must be mechanically robust, must exert only low forces on objects during exploration, and must be able to scan large regions efficiently without risk of damaging objects or sensors. Joint-angle sensors on compliant joints provide an appealing option for this task. An algorithmic framework is presented that allows them to be used for contact detection and to determine object geometry without requiring tactile arrays or other complicated contact location sensors. This volumetric approach to using proprioceptive sensors provides improvements in accuracy over other existing approaches based on the intersection of planes and lines.
Published Version: doi:10.1109/IROS.2011.6094692
Other Sources: http://biorobotics.harvard.edu/pubs/2011/ref_conf/JentoftIROS2011_CompliantSimpleSensing.pdf
Terms of Use: This article is made available under the terms and conditions applicable to Open Access Policy Articles, as set forth at http://nrs.harvard.edu/urn-3:HUL.InstRepos:dash.current.terms-of-use#OAP
Citable link to this page: http://nrs.harvard.edu/urn-3:HUL.InstRepos:22108933
Downloads of this work:

Show full Dublin Core record

This item appears in the following Collection(s)

 
 

Search DASH


Advanced Search
 
 

Submitters