4.5 Article

Exploration of Local Surface Geometry with Minimum Number of Contact Points and Surface Normal Information

Journal

Publisher

INST CONTROL ROBOTICS & SYSTEMS, KOREAN INST ELECTRICAL ENGINEERS
DOI: 10.1007/s12555-012-0218-7

Keywords

Contact position; local shape reconstruction; normal curvature; principal curvature; surface normal vector

Funding

  1. MKE (The Ministry of Knowledge Economy), Korea, under the Next Generation Robot Actuator/Sensor Research Center [NIPA-2011-C7000-1001-0008]
  2. National Research Foundation of Korea [과C6A1804] Funding Source: Korea Institute of Science & Technology Information (KISTI), National Science & Technology Information Service (NTIS)

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In this paper, we propose a method of exploring the surface geometry of an unknown object by touch. The method is based on the idea that a three-dimensional surface geometry can be reconstructed from two principal curvatures of the object which are estimated from three concurrent curves. First, the process to minimize the number of contact points is addressed for the approximation of an arbitrary curve, which uses normal vectors at the contact points. Then, an algorithm for reconstructing a three-dimensional local surface from four contact points, two of which can be used to compute a normal curvature, is presented. Lastly, our method is applied to cylindrical, spherical and planar objects in simulation and experiments for validation.

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