Profile sensing with an actuated whisker

Gregory R. Scholz, Christopher D. Rahn

Research output: Contribution to journalArticle

51 Scopus citations

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.

Original languageEnglish (US)
Pages (from-to)124-127
Number of pages4
JournalIEEE Transactions on Robotics and Automation
Volume20
Issue number1
DOIs
StatePublished - Feb 1 2004

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Fingerprint Dive into the research topics of 'Profile sensing with an actuated whisker'. Together they form a unique fingerprint.

  • Cite this