Robotic mapping of friction and roughness for reality-based modeling
Robotic mapping of friction and roughness for reality-based modeling
复制标题
用于基于现实的建模的摩擦力和粗糙度的机器人绘图
DOI：
10.1109/robot.2001.932883
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发表时间：
2001
期刊：
影响因子：
--
通讯作者：
D. Pai
中科院分区：
文献类型：
--
作者：
J. Lloyd;D. Pai
本文讨论了机器人对真实物体表面摩擦和粗糙度的采集和表征。我们的动机是为现有物体构建详细的“基于现实的”模型，这些模型可以用于触觉显示和其他涉及模拟的应用。本文解决的一个关键挑战是在具有非平凡形状的真实物体上获取这些表面属性，并将这些属性与形状的几何模型相匹配。我们展示了如何在表面法向变化的情况下有效地估计库仑摩擦。我们还展示了如何估计表面粗糙度的随机过程模型。最后，我们展示了整个物体表面摩擦的机器人映射，使用UBC主动测量设施（ACME）。
This paper discusses the robotic acquisition and characterization of surface friction and roughness for real-world objects. Our motivation is the construction of detailed "reality-based" models for existing objects that can be used in haptic displays and other applications involving simulation. A key challenge addressed in this paper is the acquisition of these surface properties on real objects with nontrivial shape, and registration of these properties with respect to geometric models of the shape. We show how Coulomb friction may be effectively estimated in the presence of variations in surface normal. We also show how to estimate a stochastic process model of surface roughness. Finally, we demonstrate the robotic mapping of surface friction over an entire object, using the UBC Active Measurement Facility (ACME).