Robot active touch exploration: constraints and strategies
Robot active touch exploration: constraints and strategies
复制标题
机器人主动触摸探索：约束和策略
DOI：
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发表时间：
1990
期刊：
影响因子：
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通讯作者：
Kenneth S. Roberts
中科院分区：
文献类型：
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作者：
Kenneth S. Roberts
研究了利用主动触觉（触觉）探索来识别从一组已知模型中选取的三维物体的问题。结合了两种方法：（1）利用组件之间的几何约束来排除解释，并使用解释树方法来选择最佳的主动感知动作；（2）通过沿着物体表面连续追踪（而不是穿过自由空间）进行探索动作。本研究仅限于多面体，并给出了一组几何约束，这些约束是为了将从触觉探索中获取的组件与模型中的组件进行匹配而定制的。提出了一种使用成对线段的新约束。给出了一组主动感知动作，每个动作都有相关的成本度量，以及选择下一个动作的策略。
The problem of using active touch (haptic) exploration to recognize a 3-D object taken from a known set of models is examined. Two approaches are combined: (1) the use of geometric constraints between components to eliminate interpretations and of interpretation-tree methods for choosing the best active sensing move; and (2) exploratory moves made by tracing continually along the surface of the object (and not through free space). The study is restricted to polyhedra, and a set of geometric constraints tailored for matching components acquired from haptic exploration against components in the models is given. A new constraint using pairs of line segments is presented. A set of active sensing moves, each with an associated cost measure, and strategies for choosing the next move are given.<<ETX>>