Abstract
This work develops a method for tactilely mapping unknown harsh environments such as oil wells, using a manipulator equipped with only position sensors. Because contact with the environment may occur anywhere on the manipulator, determining the contact location is challenging. Here a method is developed, based on a probabilistic classification of the data according to the contact location on the manipulator, and the reconstruction of the surface using such classified data. The approach effectiveness is demonstrated in several case studies and laboratory experiments.
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Mazzini, F., Dubowsky, S. (2013). The Whole-Arm Exploration of Harsh Environments. In: Padois, V., Bidaud, P., Khatib, O. (eds) Romansy 19 – Robot Design, Dynamics and Control. CISM International Centre for Mechanical Sciences, vol 544. Springer, Vienna. https://doi.org/10.1007/978-3-7091-1379-0_45
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DOI: https://doi.org/10.1007/978-3-7091-1379-0_45
Publisher Name: Springer, Vienna
Print ISBN: 978-3-7091-1378-3
Online ISBN: 978-3-7091-1379-0
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