Active shape exploration of an unknown object by using robot hand

로봇손을 이용한 미지 물체의 능동적 형상탐사에 관한 연구

Geometric probing addresses the problem of determining geometric aspects of a structure from the mathematics and results of a physical measuring device such as a probe. This paper presents a new algorithm to recognize the shape of an unknown object by using a robot hand with a force and torque sensor. The new algorithm is called S.E.P.(Shape Exploration Procedure) which finds the global shape of an unknown object. The proposed method is composed of three major parts, finding contact informations such as contact point, calculation of shape information such as curvature, and expression of global shape from these informations. Comparing with the conventional approaches, the advantages of the proposed method are explained and verified by conducting experiments with a 3-dof SCARA robot.