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Elastostatic contact imaging for a mechanoreceptive tactile device

Published online by Cambridge University Press:  09 March 2009

M. Mehdian,
P.M. Johns-Rahnejat and
H. Rahnejat
M. Mehdian
Affiliation:
Robotics & Machine Intelligence Group, School of Engineering, University of Greenwich, Woolwich, London SE18 6PF(UK).
P.M. Johns-Rahnejat
Affiliation:
Department of Mechanical Engineering, Imperial College of Science, Technology & Medicine, Exhibition Road, London SW7 2BX(UK).
H. Rahnejat
Affiliation:
TEDAS Ltd, University of Warwick Science Park, Sir William Lyons Road, Coventry CV47EZ (UK).
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Summary

This paper presents a sensory gripper, consisting of two tactile sensing matrices which acquire three dimensional images of objects of interest. The image processing algorithm uses elastostatic contact information to discriminate among a host of parts made of different materials. The algorithm also enables the assessment of orientation of parts without the pre-requisite of having to recognise them. The positions of stable holdsites and a safe gripping force are also evaluated.

Keywords

Imaging; Sensory gripper; Electrostatic contact.

Information

Type
Research Article
Information
Robotica , Volume 11 , Issue 4 , July 1993, pp. 329 - 337
Copyright
Copyright © Cambridge University Press 1993

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