1. Contact Sensing for Parts Localization: Sensor Design and Experiments Yan-Bin Jia Department of Computer Science Iowa State University Ames, IA 50011-1040

2. 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!

3. 2-Axis Force/Torque Sensor  Minimalism --- one sensor modality.  Industrial sensors are expensive for lab experiments.

4. Feel the Touch

5. Data Transmission DAQ board TCP/IP Visual C++

6. 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

7. Calibration Spine vv 2 How to locate contact? d measured voltage ratio contact

8. Verification actual contact estimated contact

9. Rolling Strategy Contact should travel equal distances on the jaw and on the object boundary. A’B’  AB 

10. An Experiment

11. More Experiments

12. 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

13. Related Work Force and Contact Sensing Brock & Chiu 1978; Salisbury 1984; Tsujimura & Yabuta 1989; Bicchi 1990; Zhou et al. 1996 Tactile Sensing Howe et al. 1990; Howe & Cutkosky 1993; Zhang & Chen 2000 Controll of Rolling Raibert & Craig 1981; Mason 1981; Paljug et al. 1994 Sensor Design Abe et al. 1999; Fearing 1987; Fearing & Binford 1988; Cameron et al. 1988 Sensor Calibration Watson & Drake 1975; Nakamura et al. 1988; Voyles et al. 1997 Kaneko & Tanie 1994; Grupen & Huber 1993; Haidacher & Hirzinger 2002;