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

作者: Vorob’ev E.I.¹, Chizhikov V.I.², Kurnasov E.V.²
隶属关系:
1. Mechanical Engineering Research Institute of the Russian Academy of Sciences
2. Moscow Technological University (MIREA)
期: 卷 38, 编号 4 (2018)
页面: 251-255
栏目: Article
URL: https://journal-vniispk.ru/1068-798X/article/view/227415
DOI: https://doi.org/10.3103/S1068798X18040044
ID: 227415

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详细

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.