TY - GEN
T1 - Profile sensing with an actuated whisker
AU - Scholz, Gregory R.
AU - Rahn, Christopher D.
PY - 2002
Y1 - 2002
N2 - 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.
AB - 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.
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U2 - 10.1115/IMECE2002-33988
DO - 10.1115/IMECE2002-33988
M3 - Conference contribution
AN - SCOPUS:78249235004
SN - 0791836258
SN - 9780791836255
T3 - ASME International Mechanical Engineering Congress and Exposition, Proceedings
SP - 285
EP - 288
BT - Adaptive Structures and Materials Systems
PB - American Society of Mechanical Engineers (ASME)
ER -