Contact Sensing for Parts Localization: Sensor Design and Experiments Yan-Bin Jia Department of...
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![Page 1: Contact Sensing for Parts Localization: Sensor Design and Experiments Yan-Bin Jia Department of Computer Science Iowa State University Ames, IA 50011-1040.](https://reader035.fdocuments.in/reader035/viewer/2022062519/5697bfbf1a28abf838ca2e41/html5/thumbnails/1.jpg)
Contact Sensing for Parts Localization: Sensor Design and
Experiments
Yan-Bin Jia
Department of Computer Science Iowa State University Ames, IA 50011-1040
![Page 2: Contact Sensing for Parts Localization: Sensor Design and Experiments Yan-Bin Jia Department of Computer Science Iowa State University Ames, IA 50011-1040.](https://reader035.fdocuments.in/reader035/viewer/2022062519/5697bfbf1a28abf838ca2e41/html5/thumbnails/2.jpg)
Localizing on a Curved Shape
Find location and orientation relative to the jaw.
IROS 01 Locating contact on the jaw.
Implementation of rolling motion
through rolling!
![Page 3: Contact Sensing for Parts Localization: Sensor Design and Experiments Yan-Bin Jia Department of Computer Science Iowa State University Ames, IA 50011-1040.](https://reader035.fdocuments.in/reader035/viewer/2022062519/5697bfbf1a28abf838ca2e41/html5/thumbnails/3.jpg)
2-Axis Force/Torque Sensor
Minimalism --- one sensor modality. Industrial sensors are expensive for lab experiments.
![Page 4: Contact Sensing for Parts Localization: Sensor Design and Experiments Yan-Bin Jia Department of Computer Science Iowa State University Ames, IA 50011-1040.](https://reader035.fdocuments.in/reader035/viewer/2022062519/5697bfbf1a28abf838ca2e41/html5/thumbnails/4.jpg)
Feel the Touch
![Page 5: Contact Sensing for Parts Localization: Sensor Design and Experiments Yan-Bin Jia Department of Computer Science Iowa State University Ames, IA 50011-1040.](https://reader035.fdocuments.in/reader035/viewer/2022062519/5697bfbf1a28abf838ca2e41/html5/thumbnails/5.jpg)
Data Transmission
DAQ board
TCP/IP
Visual C++
![Page 6: Contact Sensing for Parts Localization: Sensor Design and Experiments Yan-Bin Jia Department of Computer Science Iowa State University Ames, IA 50011-1040.](https://reader035.fdocuments.in/reader035/viewer/2022062519/5697bfbf1a28abf838ca2e41/html5/thumbnails/6.jpg)
How to Detect Contact?
bending moment: Fh
twisting moment: Fd
v / v Fd / Fh = d / h 2 1
(d measurable after calibration).
known
1 maintain v v d 2
![Page 7: Contact Sensing for Parts Localization: Sensor Design and Experiments Yan-Bin Jia Department of Computer Science Iowa State University Ames, IA 50011-1040.](https://reader035.fdocuments.in/reader035/viewer/2022062519/5697bfbf1a28abf838ca2e41/html5/thumbnails/7.jpg)
Calibration Spine
v 2
How to locate contact?
dmeasured voltage ratio
contact
![Page 8: Contact Sensing for Parts Localization: Sensor Design and Experiments Yan-Bin Jia Department of Computer Science Iowa State University Ames, IA 50011-1040.](https://reader035.fdocuments.in/reader035/viewer/2022062519/5697bfbf1a28abf838ca2e41/html5/thumbnails/8.jpg)
Verification
actual contact
estimatedcontact
![Page 9: Contact Sensing for Parts Localization: Sensor Design and Experiments Yan-Bin Jia Department of Computer Science Iowa State University Ames, IA 50011-1040.](https://reader035.fdocuments.in/reader035/viewer/2022062519/5697bfbf1a28abf838ca2e41/html5/thumbnails/9.jpg)
Rolling Strategy
Contact should travel equal distances on the jaw and on theobject boundary.
A’B’ AB
![Page 10: Contact Sensing for Parts Localization: Sensor Design and Experiments Yan-Bin Jia Department of Computer Science Iowa State University Ames, IA 50011-1040.](https://reader035.fdocuments.in/reader035/viewer/2022062519/5697bfbf1a28abf838ca2e41/html5/thumbnails/10.jpg)
An Experiment
![Page 11: Contact Sensing for Parts Localization: Sensor Design and Experiments Yan-Bin Jia Department of Computer Science Iowa State University Ames, IA 50011-1040.](https://reader035.fdocuments.in/reader035/viewer/2022062519/5697bfbf1a28abf838ca2e41/html5/thumbnails/11.jpg)
More Experiments
![Page 12: Contact Sensing for Parts Localization: Sensor Design and Experiments Yan-Bin Jia Department of Computer Science Iowa State University Ames, IA 50011-1040.](https://reader035.fdocuments.in/reader035/viewer/2022062519/5697bfbf1a28abf838ca2e41/html5/thumbnails/12.jpg)
Conclusion & Future Work
Contact detection and simple force control
Accuracy of contact measurements
Calibration without known weights
More reliable and active control for rolling & localization
Curvature estimation, shape recognition & reconstruction
Inexpensive and desirable for lab experiments
![Page 13: Contact Sensing for Parts Localization: Sensor Design and Experiments Yan-Bin Jia Department of Computer Science Iowa State University Ames, IA 50011-1040.](https://reader035.fdocuments.in/reader035/viewer/2022062519/5697bfbf1a28abf838ca2e41/html5/thumbnails/13.jpg)
Related WorkForce and Contact Sensing
Brock & Chiu 1978; Salisbury 1984; Tsujimura & Yabuta 1989;
Bicchi 1990; Zhou et al. 1996
Tactile SensingHowe et al. 1990; Howe & Cutkosky 1993; Zhang & Chen 2000
Controll of RollingRaibert & Craig 1981; Mason 1981; Paljug et al. 1994
Sensor DesignAbe et al. 1999; Fearing 1987; Fearing & Binford 1988; Cameron et al. 1988
Sensor CalibrationWatson & Drake 1975; Nakamura et al. 1988; Voyles et al. 1997
Kaneko & Tanie 1994; Grupen & Huber 1993; Haidacher & Hirzinger 2002;