NDLI: A potential field approach to dexterous tactile exploration of unknown objects

Content Provider	IEEE Xplore Digital Library
Author	Bierbaum, A. Rambow, M. Asfour, T. Dillmann, R.
Copyright Year	2008
Description	Author affiliation: Inst. of Comput. Sci. & Eng., Univ. of Karlsruhe, Karlsruhe (Bierbaum, A.; Rambow, M.; Asfour, T.; Dillmann, R.)
Abstract	Haptic exploration of unknown objects is of great importance for acquiring multi-modal object representations, which enable a humanoid robot to autonomously execute grasping and manipulation tasks. In this paper we present a tactile exploration strategy to guide an anthropomorphic five-finger hand along the surface of previously unknown objects and build a 3D object representation based on acquired tactile point clouds. The proposed strategy makes use of the dynamic potential field approach suggested in the context of mobile robot navigation. To demonstrate the capabilities of this strategy, we conduct experiments in a detailed physics simulation using a model of the five-finger hand. Exploration results of several test objects are given.
Starting Page	360
Ending Page	366
File Size	2809285
Page Count	7
File Format	PDF
ISBN	9781424428212
DOI	10.1109/ICHR.2008.4756005
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-12-01
Publisher Place	South Korea
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Computer science Navigation Shape Fingers Robot control Humanoid robots Grasping Robot sensing systems Mobile robots Manipulator dynamics
Content Type	Text
Resource Type	Article

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