Determining the axis of a surface of revolution using tactile sensing
- 4 December 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
Abstract
Sparse tactile sensing can be used to determine the positions and orientations of objects if the objects are restricted to being of a particular class. Consideration is given to a simple example of exploiting class constraints: finding the axis of an unknown surface of revolution. Three tactile curvature measurements on a surface of revolution with sweeping rule in C/sup 2/ are shown to be sufficient for determining the axis except for certain singular configurations. Position and orientation error bounds and preliminary experimental results are presented for a capacitive tactile sensor with two contacts. Optimal angular spacing was seen to be 90 degrees between contacts. Experiments showed that the method worked with a position error of 0.07 in. and an angle error of 7.3 degrees .Keywords
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