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Erschienen in:
2013 | OriginalPaper | Buchkapitel
The Whole-Arm Exploration of Harsh Environments
verfasst von : Francesco Mazzini, Steven Dubowsky
Erschienen in: Romansy 19 – Robot Design, Dynamics and Control
Verlag: Springer Vienna
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This work develops a method for tactilely mapping unknown harsh environments such as oil wells, using a manipulator equipped with only position sensors. Because contact with the environment may occur anywhere on the manipulator, determining the contact location is challenging. Here a method is developed, based on a probabilistic classification of the data according to the contact location on the manipulator, and the reconstruction of the surface using such classified data. The approach effectiveness is demonstrated in several case studies and laboratory experiments.