Haptic Surface Exploration
نویسندگان
چکیده
We describe research at the Stanford Dextrous Manipulation Lab centered around haptic exploration of objects with robot hands. The research areas include object acquisition and manipulation and object exploration with robot ngers to measure surface features, textures and friction. We assume that the robot is semi-autonomous; it can receive guidance or supervision from humans regarding object selection and grasp choice, but is also equipped with algorithms for autonomous ne manipulation, surface exploration and feature identi cation. The applications of this work include object retrieval and identi cation in remote or hazardous environments.
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