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Profile Sensing With an Actuated Whisker

[+] Author Affiliations
Gregory R. Scholz, Christopher D. Rahn

Pennsylvania State University, University Park, PA

Paper No. IMECE2002-33988, pp. 285-288; 4 pages
doi:10.1115/IMECE2002-33988
From:
  • ASME 2002 International Mechanical Engineering Congress and Exposition
  • Adaptive Structures and Materials Systems
  • New Orleans, Louisiana, USA, November 17–22, 2002
  • Conference Sponsors: Aerospace Division
  • ISBN: 0-7918-3625-8 | eISBN: 0-7918-1691-5, 0-7918-1692-3, 0-7918-1693-1
  • Copyright © 2002 by ASME

abstract

Obstacle avoidance and object identification are important tasks for robots in unstructured environments. This paper develops an actuated whisker that determines contacted object profiles using a hub load cell. The shape calculation algorithm numerically integrates the elastica equations from the measured hub angle, displacement, forces, and torque until the bending moment vanishes, indicating the contact point. Sweeping the whisker across the object generates a locus of contact points that can be used for object identification. Experimental results demonstrate the ability to identify and differentiate square and curved objects at various orientations.

Copyright © 2002 by ASME

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