Contact Sensing for Parts Localization: Sensor Design and

Experiments

Yan-Bin Jia

Department of Computer Science Iowa State University Ames, IA 50011-1040

Localizing on a Curved Shape

Find location and orientation relative to the jaw.

IROS 01 Locating contact on the jaw.

Implementation of rolling motion

through rolling!

2-Axis Force/Torque Sensor

Minimalism --- one sensor modality. Industrial sensors are expensive for lab experiments.

Feel the Touch

Data Transmission

DAQ board

TCP/IP

Visual C++

How to Detect Contact?

bending moment: Fh

twisting moment: Fd

v / v Fd / Fh = d / h 2 1

(d measurable after calibration).

known

1 maintain v v d 2

Calibration Spine

v 2

How to locate contact?

dmeasured voltage ratio

contact

Verification

actual contact

estimatedcontact

Rolling Strategy

Contact should travel equal distances on the jaw and on theobject boundary.

A’B’ AB

An Experiment

More Experiments

Conclusion & Future Work

Contact detection and simple force control

Accuracy of contact measurements

Calibration without known weights

More reliable and active control for rolling & localization

Curvature estimation, shape recognition & reconstruction

Inexpensive and desirable for lab experiments

Related WorkForce and Contact Sensing

Brock & Chiu 1978; Salisbury 1984; Tsujimura & Yabuta 1989;

Bicchi 1990; Zhou et al. 1996

Tactile SensingHowe et al. 1990; Howe & Cutkosky 1993; Zhang & Chen 2000

Controll of RollingRaibert & Craig 1981; Mason 1981; Paljug et al. 1994

Sensor DesignAbe et al. 1999; Fearing 1987; Fearing & Binford 1988; Cameron et al. 1988

Sensor CalibrationWatson & Drake 1975; Nakamura et al. 1988; Voyles et al. 1997

Kaneko & Tanie 1994; Grupen & Huber 1993; Haidacher & Hirzinger 2002;