HapticV1, Main, Exploration, bibRecord, 007338

Robotic acquisition of deformable models

Identifieur interne : 007338 ( Main/Exploration ); précédent : 007337; suivant : 007339

Robotic acquisition of deformable models

Auteurs : Jochen Lang [Canada] ; Dinesh K. Pai [Canada] ; Robert J. Woodham [Canada]

Source :

Proceedings - IEEE International Conference on Robotics and Automation [ 1050-4729 ] ; 2002.

RBID : Pascal:04-0216066

Descripteurs français

Pascal (Inist)
- Robotique, Identification système, Mesure déformation, Traitement image stéréoscopique, Vision stéréoscopique, Vision robot, Bras, Capteur position, Mesure position, Capteur force, Mesure force, Interface utilisateur, Modélisation, Fonction discrète, Fonction Green, Position transducteur.
Wicri :
- topic : Robotique.

English descriptors

KwdEn :
- Arm, Deformation measurement, Discrete function, Force measurement, Force transducer, Green function, Modeling, Position measurement, Position sensor, Robot vision, Robotics, Stereo image processing, Stereopsis, System identification, Transducer position, User interface.

Abstract

We describe techniques for automatically acquiring observations of a deforming object and for estimating a model of the deformation from these observations. A robotic system was developed for measuring deformation, and has been previously reported [1, 2]. The present paper describes new techniques for the estimation of deformable models based on discrete Green's functions, from measurements acquired using stereo vision and a robot arm's position and force sensors. This kind of robotic measurement presents new challenges for measurement and estimation, that we address here. Our techniques for robotic acquisition of deformable object models have potential applications in robotics, haptic interfaces, simulation, computer graphics and virtual reality.

Affiliations:

Canada

Links toward previous steps (curation, corpus...)

to stream PascalFrancis, to step Corpus: 001016
to stream PascalFrancis, to step Curation: 000493
to stream PascalFrancis, to step Checkpoint: 000F42
to stream Main, to step Merge: 007882
to stream Main, to step Curation: 007338

Le document en format XML

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<front><div type="abstract" xml:lang="en">We describe techniques for automatically acquiring observations of a deforming object and for estimating a model of the deformation from these observations. A robotic system was developed for measuring deformation, and has been previously reported [1, 2]. The present paper describes new techniques for the estimation of deformable models based on discrete Green's functions, from measurements acquired using stereo vision and a robot arm's position and force sensors. This kind of robotic measurement presents new challenges for measurement and estimation, that we address here. Our techniques for robotic acquisition of deformable object models have potential applications in robotics, haptic interfaces, simulation, computer graphics and virtual reality.</div>
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Robotic acquisition of deformable models

Robotic acquisition of deformable models

Source :

Descripteurs français

English descriptors

Abstract

Links toward previous steps (curation, corpus...)

Le document en format XML

Pour manipuler ce document sous Unix (Dilib)

Pour mettre un lien sur cette page dans le réseau Wicri