Proceedings ArticleDOI
Profile Sensing With an Actuated Whisker
Gregory R. Scholz,Christopher D. Rahn +1 more
- pp 285-288
Reads0
Chats0
TLDR
In this paper, an actuated whisker is used to determine contacted object profiles using a hub load cell, and the shape calculation algorithm numerically integrates the elastica equations from the measured hub angle, displacement, forces, and torque until the bending moment vanishes, indicating the contact point.Abstract:
Obstacle avoidance and object identification are important tasks for robots in unstructured environments. This paper develops an actuated whisker that determines contacted object profiles using a hub load cell. The shape calculation algorithm numerically integrates the elastica equations from the measured hub angle, displacement, forces, and torque until the bending moment vanishes, indicating the contact point. Sweeping the whisker across the object generates a locus of contact points that can be used for object identification. Experimental results demonstrate the ability to identify and differentiate square and curved objects at various orientations.Copyright © 2002 by ASMEread more
Citations
More filters
Journal ArticleDOI
Autonomous tactile perception: A combined improved sensing and Bayesian nonparametric approach
TL;DR: A Bayesian nonparametric approach based on Pitman-Yor processes to model power-law distributions is derived, an extension of the previous work using Dirichlet processes Dallaire et al. (2011).
Journal ArticleDOI
Radial distance determination in the rat vibrissal system and the effects of Weber's law
TL;DR: This paper surveys the different mechanical methods by which the rat could determine radial object distance and applies Weber's law to two methods for radial distance determination, predicting that the rat will have greatest sensing resolution close to the vibrissa tip.
Journal ArticleDOI
Extracting Object Contours with the Sweep of a Robotic Whisker Using Torque Information
TL;DR: An algorithm based on a numerical cantilever beam model of the whiskers to measure object profile shape over a single large-angle whisker rotation using only information about torque and angle at the whisker base is derived.
Journal ArticleDOI
Whisking mechanics and active sensing
TL;DR: The 'windowed sampling' hypothesis for active sensing is offered: that rats can estimate an object's spatial features by integrating mechanical information across whiskers during brief (25-60ms) windows of 'haptic enclosure' with the whiskers, a motion that resembles a hand grasp.
Proceedings ArticleDOI
Surface identification using simple contact dynamics for mobile robots
Philippe Giguère,Gregory Dudek +1 more
TL;DR: An approach to surface identification in the context of mobile robotics, applicable to supervised and unsupervised learning is described, based on analyzing the tip acceleration patterns induced in a metallic rod, dragged along a surface that is to be identified.
References
More filters
Journal ArticleDOI
Autonomous tactile perception: A combined improved sensing and Bayesian nonparametric approach
TL;DR: A Bayesian nonparametric approach based on Pitman-Yor processes to model power-law distributions is derived, an extension of the previous work using Dirichlet processes Dallaire et al. (2011).
Journal ArticleDOI
Radial distance determination in the rat vibrissal system and the effects of Weber's law
TL;DR: This paper surveys the different mechanical methods by which the rat could determine radial object distance and applies Weber's law to two methods for radial distance determination, predicting that the rat will have greatest sensing resolution close to the vibrissa tip.
Journal ArticleDOI
Extracting Object Contours with the Sweep of a Robotic Whisker Using Torque Information
TL;DR: An algorithm based on a numerical cantilever beam model of the whiskers to measure object profile shape over a single large-angle whisker rotation using only information about torque and angle at the whisker base is derived.
Journal ArticleDOI
Whisking mechanics and active sensing
TL;DR: The 'windowed sampling' hypothesis for active sensing is offered: that rats can estimate an object's spatial features by integrating mechanical information across whiskers during brief (25-60ms) windows of 'haptic enclosure' with the whiskers, a motion that resembles a hand grasp.
Proceedings ArticleDOI
Surface identification using simple contact dynamics for mobile robots
Philippe Giguère,Gregory Dudek +1 more
TL;DR: An approach to surface identification in the context of mobile robotics, applicable to supervised and unsupervised learning is described, based on analyzing the tip acceleration patterns induced in a metallic rod, dragged along a surface that is to be identified.