Exploration of unknown object by active touch of r

Authors: Min Jeong Kim Mina Choi Yong Bum Kim Fengyi Liu Hyungpil Moon Ja Choon Koo Hyouk Ryeol Choi

Publish Date: 2017/05/11

Volume: 12, Issue: 2, Pages: 406-414

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Abstract

This paper proposes a method of exploring the local shape of an unknown object using the force and torque information obtained from active touch In the first we present a method to estimate an unknown curvature using rolling and sliding motion with a force/torque sensor attached to the fingertip of the hand Then the normal curvature equation from 2D curvatures is obtained Finally we present a reconstruction algorithm of local geometry by using a normal curvature equation which is composed of principal curvatures and principal directions The method is tested by using a handarm system consisting of an industrial robot arm and an anthropomorphic robot hand with 6axis force/torque sensor The feasibility of the proposed method is experimentally validated for objects with simple geometries such as cylinder spheres etcThis research was made possible by the Industrial Strategic technology development program project number 10033888 development of Anthropomorphic Robot Hand Technology for Delicate Dynamic Grasp funded By the Ministry of Trade industry Energy MI KoreaMin Jeong Kim received her BS and MS degrees in Mechanical Engineering from Sungkyunkwan University Korea in 2011 and 2013 respectively She is an engineer in Hyundai Heavy Industry Korea Her research interests include robot hand dexterous manipulation and surface reconstructionFengyi Liu received his BS degree in Mechanical Engineering from Harbin Institute of Technology Weihai China in 2010 Since 2010 he has been with the Intelligent Robotics and Mechatronics Systems Laboratory School of Mechanical Engineering Sungkyunkwan University Suwon Korea His current research interests include robotic hands and dexterous manipulatorHyungpil Moon received his BS and MS degrees in Mechanical Engineering from Pohang University of Science and Technology POSTECH Pohang Korea in 1996 and 1998 respectively and his PhD degree in Mechanical Engineering from the University of Michigan Ann Arbor in 2005 He was a postdoctoral fellow at Robotics Institute Carnegie Mellon University Pittsburgh PA He is currently an assistant professor in the School of Mechanical Engineering Sungkyunkwan University Suwon Korea His research interests include distributed manipulation localization and navigation of multiagent systems and biomimetic roboticsJa Choon Koo received his BS from Hanyang University Seoul Korea in 1989 and his MS and PhD degrees from the University of Texas at Austin USA in 1992 and 1997 respectively He was an Advisory Engineer for IBM San Jose California USA and a Staff Engineer for SISA San Jose CA USA Currently he is a Professor of School of Mechanical Engineering in Sungkyunkwan University in Korea His major researches are in the field of design analysis and control of dynamics systems especially micro precision mechatronic systems and energy transducersHyouk Ryeol Choi received his BS degree from Seoul National University Seoul Korea in 1984 an MS degree from Korea Advanced Institute of Science and Technology KAIST Daejon Korea in 1986 and a PhD degree from Pohang University of Science and Technology POSTECH Pohang Korea in 1994 all in Mechanical Engineering From 1986 to 1989 he was an Associate Engineer at LG Electronics Central Research Laboratory Seoul From 1993 to 1995 he was at Kyoto University Kyoto Japan as a Grantee of scholarship from the Japanese Educational Ministry From 2000 to 2001 he visited Advanced Institute of Industrial Science Technology AIST Tsukuba Japan as a Japan Society for the Promotion of Sciences JSPS Fellow Since 1995 he has been with Sungkyunkwan University Suwon Korea where he is currently a Professor in the School of Mechanical Engineering He was an Associate Editor of IEEE Transactions on Robotics TRO He is currently an Associate Editor of the Journal of Intelligent Service Robotics International Journal of Precision Engineering and Manufacturing IJPEM and the Editor of International Journal of Control Automation and Systems IJCAS His current research interests include dexterous mechanism field application of robots and soft mechatronics

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