TY - JOUR
T1 - Three-dimensional contact imaging with an actuated whisker
AU - Clements, Tyler N.
AU - Rahn, Christopher D.
N1 - Funding Information:
Manuscript received November 22, 2005. This paper was recommended for publication by Associate Editor J. Schimmels and Editor F. Park upon evaluation of the reviewers’ comments. This work was supported by the Office of Naval Research.
PY - 2006/8
Y1 - 2006/8
N2 - Contact sensors can provide high-information-density object surface sensing in harsh and/or opaque environments. This paper describes the design, modeling, control, and data processing of a contact imager consisting of a flexible whisker mounted on a two-axis robot through a load cell. The whisker sweeps around and into contact with unknown objects, determining the three-dimensional location of contact points to within a specified position resolution. During contact, the whisker bends along the surface normal, producing large deflections. The joint angles and load cell signals are numerically processed to determine the whisker shapes. Comparison of whisker shapes during bending determines contact point location. Experimental results for several objects with wide ranging surface curvature and roughness demonstrate 1.51-cm resolution for a 45.5-cm whisker.
AB - Contact sensors can provide high-information-density object surface sensing in harsh and/or opaque environments. This paper describes the design, modeling, control, and data processing of a contact imager consisting of a flexible whisker mounted on a two-axis robot through a load cell. The whisker sweeps around and into contact with unknown objects, determining the three-dimensional location of contact points to within a specified position resolution. During contact, the whisker bends along the surface normal, producing large deflections. The joint angles and load cell signals are numerically processed to determine the whisker shapes. Comparison of whisker shapes during bending determines contact point location. Experimental results for several objects with wide ranging surface curvature and roughness demonstrate 1.51-cm resolution for a 45.5-cm whisker.
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U2 - 10.1109/TRO.2006.878950
DO - 10.1109/TRO.2006.878950
M3 - Article
AN - SCOPUS:33747625641
VL - 22
SP - 844
EP - 848
JO - IEEE Transactions on Robotics
JF - IEEE Transactions on Robotics
SN - 1552-3098
IS - 4
ER -