Principal curvature estimation by acoustical tactile sensing system

K. Teramoto, Keigo Watanabe

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

It is essential for robotic tactile sensors to provide capability of shape discrimination from static touch. For this purpose, the principal curvatures and corresponding principal directions play the important roles which defines the local shape of the object. This paper proposes a novel acoustic tactile sensing system which has an ability to identify the principal curvatures of the object surface by utilizing reflected acoustical wavefronts. Any smooth surface can be locally approximated by a set of independent parameters: the location of the point of contact, the normal vector of the tangent plane, the principal curvatures and the corresponding principal directions. The major difficulty, however, existing in estimating these parameters is that the wavefront reflected by the paraboloidal surface cannot be described in the linear combination of the plane-waves nor the spherical-waves strictly such that the nonlinearity exists between TOF and the parameters defining the surface. Avoiding the difficulty, the proposed sensing system seeks the unique point over the manifold which satisfies the Snell's low. In this paper, several acoustical experiments show the above advantages of the tactile sensor and topographical image reconstruction via geometrical connection of principal curvatures.

Original languageEnglish
Title of host publicationIEEE International Conference on Intelligent Robots and Systems
Pages1522-1527
Number of pages6
Volume2
Publication statusPublished - 2000
Externally publishedYes
Event2000 IEEE/RSJ International Conference on Intelligent Robots and Systems - Takamatsu, Japan
Duration: Oct 31 2000Nov 5 2000

Other

Other2000 IEEE/RSJ International Conference on Intelligent Robots and Systems
CountryJapan
CityTakamatsu
Period10/31/0011/5/00

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ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Teramoto, K., & Watanabe, K. (2000). Principal curvature estimation by acoustical tactile sensing system. In IEEE International Conference on Intelligent Robots and Systems (Vol. 2, pp. 1522-1527)