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ICRA
2003
IEEE

A vision-based haptic exploration

10 years 11 months ago
A vision-based haptic exploration
Real-world objects exhibit rich physical interaction behaviours on contact. Such behaviours depend on how heavy and hard it is when held, how its surface feels when touched, how it deforms on contact, etc. Recently, there are thus growing needs for haptic exploration to estimate and extract such physical object properties as mass, friction, elasticity, relational constraints etc.. In this paper, we propose a novel paradigm, we call haptic vision,which is a vision-based haptic exploration approach toward an automatic construction of reality-based virtual space simulator, by augmenting active vision with active touch. We apply this technique to mass, elational constraints estimation and elasticityr, and use these results to construct virtual object manipulation simulator. Experimental results show that feasibility and validity of the proposed approach.
Hiromi T. Tanaka, Kiyotaka Kushihama, Naoki Ueda,
Added 04 Jul 2010
Updated 04 Jul 2010
Type Conference
Year 2003
Where ICRA
Authors Hiromi T. Tanaka, Kiyotaka Kushihama, Naoki Ueda, Shinichi Hirai
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