Planning And Executing Tactile Exploratory Procedures

Planning And Executing Tactile Exploratory Procedures
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规划和执行触觉探索程序

DOI：
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发表时间：
1992
期刊：
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems
影响因子：
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通讯作者：
A. Sabatini
A. Sabatini
中科院分区：
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文献类型：
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作者：
P. Dario;P. Ferrante;G. Giacalone;L. Livaldi;B. Allotta;G. Buttazzo;A. Sabatini

文献摘要

被引文献

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本文描述了一种通过主动触摸来探索和分类不同对象的过程。该体系结构是围绕一个MANUA 562机械手配备了一个6轴F/T力传感手腕和手指结合不同的触觉传感器。该系统在分布式结构的控制下运行，其中感测信息被并行处理，而一些探索性参数被设置在真实的时间。设计并成功实现了一种由触觉探索过程（EP）序列组成的触觉策略，以从具有相同大小和形状但由不同材料制成且具有不同表面特性的12个对象中挑选出单个对象。
A bsfract-This paper describes a procedure for exploring and sorting different objects by active touch. The architecture is centered around a PUMA 562 manipulator equipped with a 6-axis F/T force sensing wrist and with a finger incorporating different tactile sensors. The system operates under the control of a distributed architecture, in which sensory information is processed in parallel whereas some exploratory parameters are set in real t i m e . A haptic strategy consisting of a sequence of tactile exploratory procedures (EP) has been devised and successfully implemented to sort individual objects out Qf a set of 12 objects having identical size and shape, but made out of different materials and featured by different surface proper t i e s .