Determination of an Optimal Contact Pose for Object Recognition Using a Robot Hand

로봇 손의 물체 인식을 위한 최적 접촉포즈 결정 알고리즘

In this paper, we propose a new object representation method and matching algorithm for object recognition using a 3-fingered robot hand. Each finger tip can measure normal vector and shapes of a contacting surface. Object is represented by the inter-surface description table where the features of a surface are described in the diagonal and the relations between two surfaces are in the upper diagonal. Based on this table, a fast and the efficient matching algorithm has been proposed. This algorithm can be applied to natural quadric objects.