Active tactile perception of object surface geometric profiles

摘要

The authors discuss an experimental robotic system using a 16*16 tactile sensor and an instrumented passive-compliant wrist developed specifically for the active (exploratory) perception of geometric profiles of object surfaces. A 2-D correlation technique is used to recover from planar position errors which occur during the sequential tactile probing.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>