Object shape perception in blind robot grasping using a wrist force/torque sensor

Hussam Al Hussein, Tiago Caldeira, Dongming Gan, Jorge Dias, Lakmal Seneviratne

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

3 Scopus citations

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.

Original languageBritish English
Title of host publication2013 IEEE 20th International Conference on Electronics, Circuits, and Systems, ICECS 2013
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages193-196
Number of pages4
ISBN (Print)9781479924523
DOIs
StatePublished - 2013
Event2013 IEEE 20th International Conference on Electronics, Circuits, and Systems, ICECS 2013 - Abu Dhabi, United Arab Emirates
Duration: 8 Dec 201311 Dec 2013

Publication series

NameProceedings of the IEEE International Conference on Electronics, Circuits, and Systems

Conference

Conference2013 IEEE 20th International Conference on Electronics, Circuits, and Systems, ICECS 2013
Country/TerritoryUnited Arab Emirates
CityAbu Dhabi
Period8/12/1311/12/13

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