Exploration of Curvature of Three Dimensional Convex Object by Active Touch of Robot Hand

로봇손의 능동접촉에 의한 3차원 볼록한 물체의 곡률탐사

In this paper we propose a method of determining the local curvature of a three dimensional convex object using the force and torque information obtained from the active touch of a robot hand. A technique for estimating two dimensional curvature of a convex object are introduced and the way of computing the three dimensional curvature from the two dimensional vurvatures is presented. Also, we develop an experimental system consisting of a finger and verify the effectiveness of the proposed method experimentally.