Capture of an Object on the Basis of Tactile Surface Recognition

E. I. Vorob’ev; V. I. Chizhikov; E. V. Kurnasov

doi:10.3103/S1068798X18040044

Capture of an Object on the Basis of Tactile Surface Recognition

Авторы: Vorob’ev E.I.¹, Chizhikov V.I.², Kurnasov E.V.²
Учреждения:
1. Mechanical Engineering Research Institute of the Russian Academy of Sciences
2. Moscow Technological University (MIREA)
Выпуск: Том 38, № 4 (2018)
Страницы: 251-255
Раздел: Article
URL: https://journal-vniispk.ru/1068-798X/article/view/227415
DOI: https://doi.org/10.3103/S1068798X18040044
ID: 227415

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Аннотация

A method is proposed for the capture of an object on the basis of fuzzy information regarding the form and physical characteristics of its surface. Exponential or robust filters may be employed. Decisions rules are formulated regarding the tactile recognition of target points on the surface. The condition for successful capture of the object is presented. An algorithm is proposed for the formulation of a target point on the motion plane of active capture elements.