Contact Sensing for Parts Localization: Sensor Design and Experiments

1. Contact Sensing for Parts Localization: Sensor Design and Experiments Yan-Bin Jia Department of Computer Science Iowa State University Ames, IA 50011-1040

2. IROS 01 Localizing on a Curved Shape Find location and orientation relative to the jaw. through rolling! Locating contact on the jaw. Implementation of rolling motion

3. 2-Axis Force/Torque Sensor  Minimalism --- one sensor modality.  Industrial sensors are expensive for lab experiments.

4. Feel the Touch

5. Data Transmission Visual C++ TCP/IP DAQ board

6. known v / v  Fd / Fh = d / h 1 2 maintain v  v  d 1 2 How to Detect Contact? bending moment: Fh twisting moment: Fd (d measurable after calibration).

7. measured voltage ratio Calibration Spine v 2 contact d How to locate contact?

8. Verification estimated contact actual contact

9. A’B’AB  Rolling Strategy Contact should travel equal distances on the jaw and on the object boundary.

10. An Experiment

11. More Experiments

12. Conclusion & Future Work Contact detection and simple force control Calibration without known weights Inexpensive and desirable for lab experiments Accuracy of contact measurements More reliable and active control for rolling & localization Curvature estimation, shape recognition & reconstruction

13. Force and Contact Sensing Brock & Chiu 1978; Salisbury 1984; Tsujimura & Yabuta 1989; Bicchi 1990;Zhou et al. 1996 Sensor Design Abe et al. 1999; Fearing 1987; Fearing & Binford 1988; Cameron et al. 1988 Tactile Sensing Howe et al. 1990; Howe & Cutkosky 1993; Zhang & Chen 2000 Controll of Rolling Sensor Calibration Raibert & Craig 1981; Mason 1981; Paljug et al. 1994 Watson & Drake 1975; Nakamura et al. 1988; Voyles et al. 1997 Related Work Kaneko & Tanie 1994; Grupen & Huber 1993; Haidacher & Hirzinger 2002;