Shape description of general 3D object using tactile sensing information

• In this paper we consider the problem of recognizing the shape of a 3D object using tactile sensing by a dexterous robot hand. Our approach uses multiple fingers to slide along the surface of the object. From the sensing contact points we extracts a number of 3D points belonging to the surface of the object. The unknown surface Γ of the object is determined by using an "n-ellipsoid" model (Bonnet [4]). The set of parameters that define the surface Γ is determined such that the nellipsoid best fits the set of data points, by using a genetic algorithm.

Ämnesord

NATURVETENSKAP  -- Data- och informationsvetenskap (hsv//swe)

NATURAL SCIENCES  -- Computer and Information Sciences (hsv//eng)

Nyckelord

Dexterous robot hand

Genetic algorithm

Global volumetric deformation technique (FFD)

N-ellipsoid

Unknown geometry

Approximation theory

Data processing

Genetic algorithms

Mathematical models

Microsensors

Pattern recognition

Dextrous robot hand

N-ellipsoids

Robotic arms

Publikations- och innehållstyp

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