1-206 主曲率を直接計測する音響触覚系

• 寺本,顕武

  佐賀大

• 渡辺,桂吾

  佐賀大

書誌事項

タイトル別名

• Acoustic Sensing System for Direct Principal Curvature Measurement

抄録

This paper proposes a novel acoustic tactile sensing system which has an ability to identify the principal curvatures of the object surface by utilizing reflected acoustical wavefronts. Any smooth surface can be locally approximated by a set of independent parameters : the location of the point of contact, the normal vector of the tangent plane, the principal curvatures and the corresponding principal directions. The major difficulty, however, existing in estimating these parameters is that the wavefront reflected by the paraboloidal surface cannot be described in the linear combination of the plane-waves nor the spherical-waves strictly such that the non-linearity exists between TOF and the parameters defining the surface. Avoiding the difficulty, the proposed sensing system utilizing TOFs for both single and double reflections.

収録刊行物

• インテリジェントシステム・シンポジウム講演論文集

  インテリジェントシステム・シンポジウム講演論文集 12 87-90, 2002-11-14

  日本機械学会

キーワード

• tactile sensor
• acoustic sensing
• array signal processing

詳細情報

• CRID: 1544231895068055552
• NII論文ID: 110002496519
• NII書誌ID: AA1190206X
• Web Site: http://dl.ndl.go.jp/info:ndljp/pid/11134038
• 本文言語コード: ja
• データソース種別:
  • NDL-Digital
  • CiNii Articles