OBJECT EXPLORATION WITH A HUMANOID ROBOT - Using Tactile and Kinesthetic Feedback

Nicolas Gorges, Stefan Gaa, Heinz Wörn

Abstract

This work deals with the reactive and autonomous exploration of objects with a humanoid robot using only tactile and kinesthetic sensor feedback. To coordinate the flow of the exploration, a novel hierarchical exploration system is introduced. The lowest level extracts contacts points and elementary features based on the direct contact with the object. It furthermore provides elementary movement primitives. The intermediate level consists of different controlling behaviors to generate exploration movements according to the sensor feedback. This level enables the robot to explore an object pointwisely or continously. The highest level evaluates the process of the exploration and determinates the reactive behavior of the underlying components. The evaluation scenario comprises the exploration of edges, which are arbitrarily located in space. The evaluation platform consists of a robot arm, a force-torque sensor, and a tactile sensor matrix. The proposed approach is evaluated and the different reactive behaviors as well as the used sensor modalities are compared.

References

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Paper Citation


in Harvard Style

Gorges N., Gaa S. and Wörn H. (2008). OBJECT EXPLORATION WITH A HUMANOID ROBOT - Using Tactile and Kinesthetic Feedback . In Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8111-31-9, pages 274-281. DOI: 10.5220/0001502702740281


in Bibtex Style

@conference{icinco08,
author={Nicolas Gorges and Stefan Gaa and Heinz Wörn},
title={OBJECT EXPLORATION WITH A HUMANOID ROBOT - Using Tactile and Kinesthetic Feedback},
booktitle={Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2008},
pages={274-281},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001502702740281},
isbn={978-989-8111-31-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - OBJECT EXPLORATION WITH A HUMANOID ROBOT - Using Tactile and Kinesthetic Feedback
SN - 978-989-8111-31-9
AU - Gorges N.
AU - Gaa S.
AU - Wörn H.
PY - 2008
SP - 274
EP - 281
DO - 10.5220/0001502702740281