Three-dimensional contact imaging with an actuated whisker

Tyler N. Clements, Christopher D. Rahn

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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 3-D 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 using an elastica model 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 cmRMS resolution for a 45.5 cm whisker.

Original languageEnglish (US)
Title of host publication2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Pages1640-1645
Number of pages6
DOIs
StatePublished - 2005
EventIEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005 - Edmonton, AB, Canada
Duration: Aug 2 2005Aug 6 2005

Other

OtherIEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005
CountryCanada
CityEdmonton, AB
Period8/2/058/6/05

Fingerprint

Point contacts
Imaging techniques
Contact sensors
Crystal whiskers
Image sensors
Surface roughness
Robots

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction
  • Control and Systems Engineering

Cite this

Clements, T. N., & Rahn, C. D. (2005). Three-dimensional contact imaging with an actuated whisker. In 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS (pp. 1640-1645). [1545213] https://doi.org/10.1109/IROS.2005.1545213
Clements, Tyler N. ; Rahn, Christopher D. / Three-dimensional contact imaging with an actuated whisker. 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. 2005. pp. 1640-1645
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Clements, TN & Rahn, CD 2005, Three-dimensional contact imaging with an actuated whisker. in 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS., 1545213, pp. 1640-1645, IEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005, Edmonton, AB, Canada, 8/2/05. https://doi.org/10.1109/IROS.2005.1545213

Three-dimensional contact imaging with an actuated whisker. / Clements, Tyler N.; Rahn, Christopher D.

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. 2005. p. 1640-1645 1545213.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Clements TN, Rahn CD. Three-dimensional contact imaging with an actuated whisker. In 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. 2005. p. 1640-1645. 1545213 https://doi.org/10.1109/IROS.2005.1545213