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Proceedings Paper

Robotic 3D dual-drive force/velocity control for tactile sensing and object recognition
Author(s): Kelly A. Korzeniowski; William A. Wolovich
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Paper Abstract

This work describes the development and testing of a 3-D dual-drive surface tracking controller that enables a robot to track along any specified path on the surface of an object. The dual-drive controller computes the normal and tangent vectors relative to movement along the path. The result is controlled movement in 3-D on the surface of an object. It is assumed that the path is generated by an external Recognizer in such a way that the data points collected by tactile sensing along the path will maximize the probability of correctly identifying the object. This tactile data collection method is referred to as `object-dependent' sensing because the location of the sensing paths is driven by comparisons made by the Recognizer to a model data base. The application for such a data collection system is object recognition tasks in environmental exploration and manipulation.

Paper Details

Date Published: 20 August 1993
PDF: 12 pages
Proc. SPIE 2059, Sensor Fusion VI, (20 August 1993); doi: 10.1117/12.150238
Show Author Affiliations
Kelly A. Korzeniowski, U.S. Naval Academy (United States)
William A. Wolovich, Brown Univ. (United States)


Published in SPIE Proceedings Vol. 2059:
Sensor Fusion VI
Paul S. Schenker, Editor(s)

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