NDLI: Active gathering of frictional properties from objects

Content Provider	IEEE Xplore Digital Library
Author	Rosales, C. Ajoudani, A. Gabiccini, M. Bicchi, A.
Copyright Year	2014
Description	Author affiliation: Centro di Ricerca “E. Piaggio”, Univ. di Pisa, Pisa, Italy (Rosales, C.; Gabiccini, M.; Bicchi, A.) \|\| Dept. of Adv. Robot. (ADVR), Ist. Italiano di Tecnol., Genoa, Italy (Ajoudani, A.)
Abstract	This work proposes a representation that comprises both shape and friction, as well as the exploration strategy to gather them from an object. The representation is developed under a common probabilistic framework, particularly it uses a Gaussian Process to approximate the distribution of the friction coefficient over the surface, also represented as a Gaussian Process. The surface model is exploited to compute straight lines (geodesic flows) that guide the exploration. The exploration follows these flows by employing an impedance controller in pursuance of safety, shape accommodation and contact enforcement, while measuring the necessary data to estimate the friction coefficient. The exploratory probes consist of an RGBD camera and an Intrinsic Tactile sensor (ITs) mounted on a robotic arm. Experimental results give evidence for the effectiveness of the algorithm in the friction coefficient gathering and enrichment of the object representation.
Starting Page	3982
Ending Page	3987
File Size	2055191
Page Count	6
File Format	PDF
e-ISBN	9781479969340
DOI	10.1109/IROS.2014.6943122
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-09-14
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot sensing systems Friction Shape Force Visualization Three-dimensional displays
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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