Robotic active tactile sensing skills.

dc.contributor.advisor	Petriu, E.,
dc.contributor.author	Greenspan, Michael A.
dc.date.accessioned	2009-03-23T15:59:38Z
dc.date.available	2009-03-23T15:59:38Z
dc.date.created	1992
dc.date.issued	1992
dc.degree.level	Masters
dc.degree.name	M.A.Sc.
dc.description.abstract	This thesis examines the use of tactile sensing for robotic contact skills. Two skills were developed which successfully tracked the contact of a plane and a sphere in the presence of positional uncertainties and varying applied forces. In the plane tracking skill, the normal force of the contact as well as a rotational moment about an axis of the sensor was tracked. In the sphere tracking skill, the normal force and positional variations lateral to the sensor were tracked. This work is significant in that it represents the first attempt, to the author's knowledge, at implementing these skills using pure tactile sensing.
dc.format.extent	205 p.
dc.identifier.citation	Source: Masters Abstracts International, Volume: 31-03, page: 1321.
dc.identifier.isbn	9780315750852
dc.identifier.uri	http://hdl.handle.net/10393/7557
dc.identifier.uri	http://dx.doi.org/10.20381/ruor-15400
dc.publisher	University of Ottawa (Canada)
dc.subject.classification	Engineering, Electronics and Electrical.
dc.title	Robotic active tactile sensing skills.
dc.type	Thesis

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