Three-dimensional contact imaging with an actuated whisker

Tyler N. Clements; Christopher D. Rahn

doi:10.1109/TRO.2006.878950

Three-dimensional contact imaging with an actuated whisker

Tyler N. Clements, Christopher D. Rahn

Research output: Contribution to journal › Article › peer-review

44 Scopus citations

Abstract

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.

Original language	English (US)
Pages (from-to)	844-848
Number of pages	5
Journal	IEEE Transactions on Robotics
Volume	22
Issue number	4
DOIs	https://doi.org/10.1109/TRO.2006.878950
State	Published - Aug 1 2006

All Science Journal Classification (ASJC) codes

Control and Systems Engineering
Computer Science Applications
Electrical and Electronic Engineering

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abstract = "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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