Object shape reconstruction based on the object manipulation

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RECERCAT Home > Universitat Politècnica de Catalunya > Documents de recerca > View document

To access the full text documents, please follow this link: http://hdl.handle.net/2117/21132

dc.contributor	Universitat Politècnica de Catalunya. Institut d'Organització i Control de Sistemes Industrials
dc.contributor	Universitat Politècnica de Catalunya. SIR - Service and Industrial Robotics
dc.contributor.author	Montaño Sarria, Andrés Felipe
dc.contributor.author	Suárez Feijóo, Raúl
dc.date	2013
dc.identifier.citation	Montaño, A.; Suarez, R. Object shape reconstruction based on the object manipulation. A: International Conference on Advanced Robotics. "The 16th International Conference on Advanced Robotics, ICAR 2013". Montevideo: 2013, p. 1-6.
dc.identifier.citation	978-1-4799-2722-7
dc.identifier.uri	http://hdl.handle.net/2117/21132
dc.language.iso	eng
dc.rights	info:eu-repo/semantics/openAccess
dc.subject	Àrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject	Robotics
dc.subject	Robot hands
dc.subject	Mans mecàniques
dc.subject	Robòtica
dc.title	Object shape reconstruction based on the object manipulation
dc.type	info:eu-repo/semantics/publishedVersion
dc.type	info:eu-repo/semantics/conferenceObject
dc.description.abstract	This paper presents an approach for the object shape reconstruction based on the object manipulation using tactile information and force feedback. The tactile information collected during the manipulation process and the kinematic information of the hand are used to identify points on the surface of the object in contact with the hand and thus allowing the object shape reconstruction. Distance invariants are measured on the reconstructed object shape in order to perform the object identification. The proposed approach was implemented using the Shunck Dexterous Hand (SDH2). Different tests were performed in real executions and some examples are presented in the paper.

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