Object shape reconstruction based on the object manipulation

Andrés Montano; Raúl Suárez

doi:10.1109/ICAR.2013.6766571

Object shape reconstruction based on the object manipulation

Andrés Montano
, Raúl Suárez

Polytechnic University of Catalonia

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

9 Citations (Scopus)

Abstract

This paper presents an approach for the object shape reconstruction based on the object manipulation using tactile information and force feedback. The tactile information collected during the manipulation process and the kinematic information of the hand are used to identify points on the surface of the object in contact with the hand and thus allowing the object shape reconstruction. Distance invariants are measured on the reconstructed object shape in order to perform the object identification. The proposed approach was implemented using the Shunck Dexterous Hand (SDH2). Different tests were performed in real executions and some examples are presented in the paper.

Original language	English
DOIs	https://doi.org/10.1109/ICAR.2013.6766571
Publication status	Published - 2013
Externally published	Yes
Event	2013 16th International Conference on Advanced Robotics, ICAR 2013 - Montevideo, Uruguay Duration: 25 Nov 2013 → 29 Nov 2013

Conference

Conference	2013 16th International Conference on Advanced Robotics, ICAR 2013
Country/Territory	Uruguay
City	Montevideo
Period	25/11/13 → 29/11/13

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10.1109/ICAR.2013.6766571

Cite this

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title = "Object shape reconstruction based on the object manipulation",

abstract = "This paper presents an approach for the object shape reconstruction based on the object manipulation using tactile information and force feedback. The tactile information collected during the manipulation process and the kinematic information of the hand are used to identify points on the surface of the object in contact with the hand and thus allowing the object shape reconstruction. Distance invariants are measured on the reconstructed object shape in order to perform the object identification. The proposed approach was implemented using the Shunck Dexterous Hand (SDH2). Different tests were performed in real executions and some examples are presented in the paper.",

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AB - This paper presents an approach for the object shape reconstruction based on the object manipulation using tactile information and force feedback. The tactile information collected during the manipulation process and the kinematic information of the hand are used to identify points on the surface of the object in contact with the hand and thus allowing the object shape reconstruction. Distance invariants are measured on the reconstructed object shape in order to perform the object identification. The proposed approach was implemented using the Shunck Dexterous Hand (SDH2). Different tests were performed in real executions and some examples are presented in the paper.

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DO - 10.1109/ICAR.2013.6766571

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T2 - 2013 16th International Conference on Advanced Robotics, ICAR 2013

Y2 - 25 November 2013 through 29 November 2013

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Object shape reconstruction based on the object manipulation

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