Curvature tensor measurement by acoustic non-contact tactile sensor

摘要

In many robotic applications of the tactile sensing, the identification of the curvature is important problem. The curvature identification process becomes ill-posed due to the non-linearity of the relationship between the unknown parameter of the curvature. Therefore in order to identify the curvature, it is necessary to solve the nonlinear optimization problem. However the optimization process is difficult even when all sets of prior knowledge are compactly convex. In this paper, the proposed curvature identification sensor seeks the matrix and the vector which satisfy conditions for the gradient at the three independent point over the target surface. Furthermore several numerical experiments show that the proposed sensor can identify the target surface following cases: 1.plane, 2.paraboloid, 3.elliptic paraboloid, 4.hyperbolic paraboloid.