Extracting Object Contours with the Sweep of a Robotic Whisker Using Torque Information

Several recent studies have investigated the problem of object feature extraction with artificial whiskers. Many of these studies have used an approach in which the whisker is rotated against the object through a small angle. Each small-angle "tap" of the whisker provides information about the radial distance between the base of the whisker and the object. By tapping at various points on the object, a full representation of the surface can be gradually constructed in three-dimensional space. It is clear, however, that this tapping method does not exploit useful information about object contours that could be extracted by "sweeping" the whisker against the object. Rotating the whisker against the object through a large angle permits the collection of a sequence of contact points as the whisker slips along the surface. The present paper derives an algorithm based on a numerical cantilever beam model of the whisker to measure object profile shape over a single large-a...

• Type: Journal
• Year: 2010
• Where: IJRR
• Authors: Joseph H. Solomon, Mitra J. Z. Hartmann
• Keywords: IJRR 2010, Object Feature Extraction, Single Large-angle Whisker, Whisker