@inproceedings{9b45d784f0d44d1fb8796edfdd7dab2f,
title = "Object shape perception in blind robot grasping using a wrist force/torque sensor",
abstract = "This paper investigates the modeling of 3D models through haptic exploration in blind scenes. Experimental setup consists of Mitsubishi arm, force/torque sensor and Phantom Omni. A Force/Torque sensor at the wrist of the 6-DOF manipulator is used to acquire data through touching objects in the environment. Robot Operating system (ROS) is implemented to connect the different components on real time. A mathematical model is presented for spherical fingertip to find out the contact location. And, it is experimented in order to proof the concept. Finally, a successful exploration procedure is proposed and applied to model a water bottle.",
author = "{Al Hussein}, Hussam and Tiago Caldeira and Dongming Gan and Jorge Dias and Lakmal Seneviratne",
year = "2013",
doi = "10.1109/ICECS.2013.6815387",
language = "British English",
isbn = "9781479924523",
series = "Proceedings of the IEEE International Conference on Electronics, Circuits, and Systems",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "193--196",
booktitle = "2013 IEEE 20th International Conference on Electronics, Circuits, and Systems, ICECS 2013",
address = "United States",
note = "2013 IEEE 20th International Conference on Electronics, Circuits, and Systems, ICECS 2013 ; Conference date: 08-12-2013 Through 11-12-2013",
}