CAREER: Shape Localization, Recognition, and Reconstruction through Touch Sensing

职业：通过触摸感应进行形状定位、识别和重建

• 批准号: 0133681
• 负责人: Yan-Bin Jia
• 金额: $ 34.96万
• 依托单位: Iowa State University
• 依托单位国家: 美国
• 项目类别: Continuing Grant
• 财政年份: 2002
• 资助国家: 美国
• 起止时间: 2002-02-15 至 2008-01-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=0133681&HistoricalAwards=false
• 关键词: CAREER; Shape; Localization; Recognition; Reconstruction

The proposed research concerns computational principles of touch sensing in the context of part localization, model-based recognition, and shape reconstruction; it encompasses a number of areas of robotics - touch sensing, part orientation and localization, shape recognition, grasping, dextrous manipulation. The proposed localization scheme aims at determining the pose of an object with known geometry relative to the (robot) hand through contact. Algorithms will be developed for processing tactile data, computing geometric invariants, and registering them onto the object's surface. The education part of the project includes development of interdisciplinary courses with an emphasis on robotics and geometric computation.

拟议的研究涉及零件定位、基于模型的识别和形状重建背景下的触摸传感计算原理;它涵盖机器人技术的许多领域-触摸传感、零件定向和定位、形状识别、抓取、灵巧操作。所提出的定位方案的目的是确定一个已知的几何形状的对象相对于（机器人）手通过接触的姿态。将开发用于处理触觉数据、计算几何不变量并将其注册到对象表面的算法。该项目的教育部分包括开发跨学科课程，重点是机器人技术和几何计算。