Skip to main content
SpringerLink
Log in

Exploration and reconstruction of unknown object by active touch of robot hand

  • Special Issue
  • Published:
Intelligent Service Robotics Aims and scope Submit manuscript

Abstract

This paper proposes a method of exploring the global shape of an unknown object using information on local geometric features. In the first, we introduce a rolling and sliding motion of a fingertip with a force/torque sensor to estimate an unknown local curvature. Also, a recognition algorithm for local geometry using normal curvature equations is presented, which are composed of principal curvatures and principal direction. Finally, to reconstruct the global shape of the object, we propose an interpolation method using principal curvatures at contact points. The proposed method is verified using a hand-arm system consisting of an industrial robot arm and an anthropomorphic robot hand with a 6-axis force/torque sensor. The effectiveness of the proposed method is experimentally validated for different type of objects.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6
Fig. 7
Fig. 8
Fig. 9
Fig. 10
Fig. 11
Fig. 12
Fig. 13
Fig. 14
Fig. 15

Similar content being viewed by others

References

  1. Fearing RS, Binford TO (1991) Using a cylindrical tactile sensor for determining curvature. IEEE Trans Robot Autom 7(6):806–817

    Article  Google Scholar 

  2. Choi HR, Kim JH, Oh SR (1998) Determination of three dimensional curvature of convex object via active touch. In: Proceedings of 1998 International Conference on Intelligent Robots and Systems, vol 3, pp 1652–1657

  3. Allen P, Bajcsy R (1987) Robotic object recognition using vision and touch. In: Proceedings of the 9th International Conference on Artificial Intelligence, pp 1131–1137

  4. Phung TC, Kim MJ, Moon H, Koo JC, Choi HR (2012) Exploration of local surface geometry with minimum number of contact points and surface normal information. Int J Control Autom Syst 10(2):383–395

    Article  Google Scholar 

  5. Jia YB, Mi L, Tian J (2006) Surface patch reconstruction via curve sampling. In: Proceedings of the 2006 International Conference on Robotics and Automation, pp 1371–1377

  6. Jia YB, Tian J (2010) Surface patch reconstruction from one-dimensional tactile data. IEEE Trans Autom Sci Eng 7(2):400–407

    Article  Google Scholar 

  7. Ibrayev R, Jia YB (2012) Recognition of curved surfaces from one-dimensional tactile data. IEEE Trans Autom Sci Eng 9(3):613–621

    Article  MATH  Google Scholar 

  8. Yin YH, Yong X, Jiang ZH, Wang QR (2012) Tracking and understanding unknown surface with high speed by force sensing and control for robot. IEEE Sensors J 12(9):2910–2916

    Article  Google Scholar 

  9. Charlebois M, Gupta K, Payandeh S (1996) Curvature based shape estimation using tactile sensing. In: Proceedings of the International 1996 Conference on Robotics and Automation, vol 4, pp 3502–3507

  10. Charlebois M, Gupta K, Payandeh S (1999) Shape description of curved surfaces from contact sensing using surface normals. Int J Robot Res 18(8):779–787

    Article  Google Scholar 

  11. Bicchi A, Salisbury JK, Brock DL (1993) Contact sensing from force measurements. Int J Robot Res 12(3):249–262

    Article  Google Scholar 

  12. Zhang H, Maekawa H, Tanie K (1996) Sensitivity Analysis and experiments of curvature estimation based on rolling contact. In: Proceedings of the 1996 International Conference on Robotics and Automation, vol 4, pp 3514–3519

  13. Montana DJ (1988) The kinematics if contact and grasp. Int J Robot Res 7(3):17–32

    Article  Google Scholar 

  14. Kim MJ, Choi M, Kim YB, Liu F, Moon H, Koo JC, Choi HR (2014) Exploration of unknown object by active touch of robot hand. Int J Control Autom Syst 12(4):406–414

    Article  MATH  Google Scholar 

  15. Mattoccia S (2012) Stereo vision: algorithms and applications. University of Bologna, Bologna

    Google Scholar 

  16. Chen FW, Liu CW (2012) Estimation of the spatial rainfall distribution using inverse distance weighting (IDW) in the middle of Taiwan. Paddy Water Environ 10(3):209–222

    Article  MATH  Google Scholar 

  17. Browatzki B, Tikhanoff V, Metta G, Bulthoff H, Wallraven C (2012) Active object recognition on a humanoid robot. In: Proceedings of the International Conference on Robotics and Automation, pp 2021–2028

  18. Li Q, Schurmann C, Haschke R, Ritter H (2013) A control framework for tactile servoing. In: Proceedings of the Robotics and Science and Systems

Download references

Acknowledgments

This research was supported by the convergence technology development program for bionic arm through the National Research Foundation of Korea (NRF) funded by the Ministry of Science, ICT & Future Plannig (No. 2014M3C1B2048175).

Author information

Authors and Affiliations

  1. School of Mechanical Engineering, Sungkyunkwan University, ChunchunDong 300, Jangan-gu, Suwon, Kyungki-do, 440-746, Korea

    Yong Bum Kim, Gitae Kang, Gun Kyu Yee, ANNA Kim, Won Suk You, Young Hun Lee, Fengyi Liu, Hyungpil Moon, Ja Choon Koo & Hyouk Ryeol Choi

Authors
  1. Yong Bum Kim
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Gitae Kang
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Gun Kyu Yee
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. ANNA Kim
    View author publications

    You can also search for this author in PubMed Google Scholar

  5. Won Suk You
    View author publications

    You can also search for this author in PubMed Google Scholar

  6. Young Hun Lee
    View author publications

    You can also search for this author in PubMed Google Scholar

  7. Fengyi Liu
    View author publications

    You can also search for this author in PubMed Google Scholar

  8. Hyungpil Moon
    View author publications

    You can also search for this author in PubMed Google Scholar

  9. Ja Choon Koo
    View author publications

    You can also search for this author in PubMed Google Scholar

  10. Hyouk Ryeol Choi
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Hyouk Ryeol Choi.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Kim, Y.B., Kang, G., Yee, G.K. et al. Exploration and reconstruction of unknown object by active touch of robot hand. Intel Serv Robotics 8, 141–149 (2015). https://doi.org/10.1007/s11370-015-0174-1

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s11370-015-0174-1

Keywords

Search

Navigation