Object shape recognition and reconstruction using pivoted tactile sensors
type: Item
instance of: scholarly article
title: Object shape recognition and reconstruction using pivoted tactile sensors
zbMATH Open document ID: 1426.74231
DOI: 10.1155/2018/1613945
published in: Mathematical Problems in Engineering
publication date: 2019-02-08T00:00:00Z
review text: Summary: Many mammals use some special tactile hairs, the so-called mystacial macrovibrissae, to acquire information about their environment. In doing so, rats and mice, e.g., are able to detect object distances, shapes, and surface textures. Inspired by the biological paradigm, we present a mechanical model for object contour scanning and shape reconstruction, considering a single vibrissa as a cylindrically shaped Euler-Bernoulli-bending rod, which is pivoted by a bearing. In doing so, we adapt our model for a rotational scanning movement, which is in contrast to many previous modeling approaches. Describing a single rotational quasi-static sweep of the vibrissa along a strict convex contour function using nonlinear Euler-Bernoulli theory, we end up in a boundary-value problem with some unknown parameters. In a first step, we use shooting methods in an algorithm to repeatedly solve this boundary-value problem (changing the vibrissa base angle) and generate the support reactions during a sweep along an object contour. Afterwards, we use these support reactions to reconstruct the object contour solving an initial-value problem. Finally, we extend the scanning process adding a second sweep of the vibrissa in opposite direction in order to enlarge the reconstructable area of the profile.
Mathematics Subject Classification ID: 74M05
Mathematics Subject Classification ID: 74K10
Mathematics Subject Classification ID: 74S30
Mathematics Subject Classification ID: 65D99
Mathematics Subject Classification ID: 68T10
Mathematics Subject Classification ID: 94A13
zbMATH DE Number: 7018512
author: Lukas Merker
author: Christoph Will
author: Joachim Steigenberger
author: Carsten Behn
MaRDI profile type: Publication
full work available at URL: https://doi.org/10.1155/2018/1613945
OpenAlex ID: W2810508660
cites work: Object contour scanning using elastically supported technical vibrissae
cites work: Methodus inveniendi lineas curvas maximi minimive proprietate gaudentes, sive solutio problematis isoperimetrici lattissimo sensu accepti
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description: scientific article; zbMATH DE number 7018512