Abstract
An algorithm for detecting the shape of 2D concave surface by utilizing a tactile probe is proposed. Pulling a tactile probe whose tip lies on an object's surface can be easily achieved, while pushing it is more difficult due to stick-slip or blocking up with irregular surface. To cope with the difficulty of pushing motion on a frictional surface, the proposed sensing algorithm is based on the pulling motion of tactile probe from a local concave point to an outer direction. The algorithm is composed of three phases, local concave point search, tracing motion planning, and infinite loop escape. We show that the proposed algorithm runs until the tactile probe detects every surface where it can reach and touch. We also show some computer simulation and experimental results obtained along the proposed algorithm.
