Determination of three dimensional curvature of convex object via active touch

H. R. Choi; J. H. Kim; S. R. Oh

Determination of three dimensional curvature of convex object via active touch

H. R. Choi
, J. H. Kim
, S. R. Oh

Department of Mechanical Engineering

Sungkyunkwan University

Research output: Contribution to conference › Paper › peer-review

6 Scopus citations

Abstract

In this paper we propose a method of determining the local curvature of a three dimensional convex object using the force and torque information obtained from the active touch of a robot finger. A technique for estimating two dimensional curvature of a convex object are introduced and the way of computing the three dimensional curvature from the two dimensional curvature is presented. Also, we develop an experimental system consisting of a finger and verify the effectiveness of the proposed method experimentally.

Original language	English
Pages	1652-1657
Number of pages	6
State	Published - 1998
Event	Proceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 1 (of 3) - Victoria, Can Duration: 13 Oct 1998 → 17 Oct 1998

Conference

Conference	Proceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 1 (of 3)
City	Victoria, Can
Period	13/10/98 → 17/10/98

Cite this

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title = "Determination of three dimensional curvature of convex object via active touch",

abstract = "In this paper we propose a method of determining the local curvature of a three dimensional convex object using the force and torque information obtained from the active touch of a robot finger. A technique for estimating two dimensional curvature of a convex object are introduced and the way of computing the three dimensional curvature from the two dimensional curvature is presented. Also, we develop an experimental system consisting of a finger and verify the effectiveness of the proposed method experimentally.",

author = "Choi, \{H. R.\} and Kim, \{J. H.\} and Oh, \{S. R.\}",

year = "1998",

language = "English",

pages = "1652--1657",

note = "Proceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 1 (of 3) ; Conference date: 13-10-1998 Through 17-10-1998",

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TY - CONF

T1 - Determination of three dimensional curvature of convex object via active touch

AU - Choi, H. R.

AU - Kim, J. H.

AU - Oh, S. R.

PY - 1998

Y1 - 1998

N2 - In this paper we propose a method of determining the local curvature of a three dimensional convex object using the force and torque information obtained from the active touch of a robot finger. A technique for estimating two dimensional curvature of a convex object are introduced and the way of computing the three dimensional curvature from the two dimensional curvature is presented. Also, we develop an experimental system consisting of a finger and verify the effectiveness of the proposed method experimentally.

AB - In this paper we propose a method of determining the local curvature of a three dimensional convex object using the force and torque information obtained from the active touch of a robot finger. A technique for estimating two dimensional curvature of a convex object are introduced and the way of computing the three dimensional curvature from the two dimensional curvature is presented. Also, we develop an experimental system consisting of a finger and verify the effectiveness of the proposed method experimentally.

UR - https://www.scopus.com/pages/publications/0032316348

M3 - Paper

AN - SCOPUS:0032316348

SP - 1652

EP - 1657

T2 - Proceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 1 (of 3)

Y2 - 13 October 1998 through 17 October 1998

ER -

Determination of three dimensional curvature of convex object via active touch

Abstract

Conference

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