Tactile Robotic Topographical Mapping Without Force or Contact Sensors

TBMG-2702

04/01/2008

Abstract
Content

A method of topographical mapping of a local solid surface within the range of motion of a robot arm is based on detection of contact between the surface and the end effector (the fixture or tool at the tip of the robot arm). The method was conceived to enable mapping of local terrain by an exploratory robot on a remote planet, without need to incorporate delicate contact switches, force sensors, a vision system, or other additional, costly hardware. The method could also be used on Earth for determining the size and shape of an unknown surface in the vicinity of a robot, perhaps in an unanticipated situation in which other means of mapping (e.g., stereoscopic imaging or laser scanning with triangulation) are not available.

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Citation
"Tactile Robotic Topographical Mapping Without Force or Contact Sensors," Mobility Engineering, April 1, 2008.
Additional Details
Publisher
Published
Apr 1, 2008
Product Code
TBMG-2702
Content Type
Magazine Article
Language
English