Paper Info
Title
3D spatial self-organization of a modular artificial skin
Abstract
In this paper, we present a new approach to spatially self-organize a modular artificial skin in 3D space. We were motivated by the demand to efficiently and automatically acquire the position and orientation of a steadily growing number of artificial skin sensor elements. Here, we combine our 3D surface reconstruction algorithm for individual patches of artificial skin, with a common active visual marker approach. Light emitting diodes, built into every element of our modular artificial skin, enable us to turn each reconstructed patch of skin into an active 6 DoF visual marker. With the help of a calibrated monocular camera, we can then estimate the homogeneous transformations between multiple, at least partially visible skin patches e.g. when distributed on the body of a robot. Our approach allows to quickly combine distributed tactile and visual coordinate systems into one homogeneous rigid body representation. We demonstrate the robustness of our approach by calibrating several patches mounted on a robot arm using only a standard web-cam.
Year
DOI
Venue
2014
10.1109/IROS.2014.6943120
Intelligent Robots and Systems
Keywords
Field
DocType
cameras,humanoid robots,image reconstruction,manipulators,robot vision,tactile sensors,3D spatial self-organization,3D surface reconstruction algorithm,active 6 DoF visual marker,active visual marker approach,artificial skin sensor elements,calibrated monocular camera,distributed tactile coordinate systems,full size humanoid robot,homogeneous transformations,light emitting diodes,modular artificial skin,robot arm,standard Web-cam,visible skin patches,visual coordinate systems
Computer vision,Computer science,Self-organization,Artificial intelligence,Modular design,Artificial skin
Conference
ISSN
Citations 
PageRank 
2153-0858
4
0.44
References 
Authors
13
3
Name
Order
Citations
PageRank
Philipp Mittendorfer1917.50
Emmanuel C. Dean-Leon26215.39
Gordon Cheng31250115.33