J-063

Vision Based Active Sensor Using a Flexible Beam

Authors: Makoto KANEKO, Naoki KANAYAMA and Toshio TSUJI
Affiliation: Dept. of Industrial and Systems Engineering, Faculty of Engineering, Hiroshima University

Abstract
This paper discusses vision based active sensing systems, termed Vision Based Active Antenna (VBAA) composed of a camera, an insensitive flexible beam whose force-deformation characteristic is known, and an actuator for rotating the beam. The camera observes the beam deformation that includes the contact information, while the beam is in contact with an object. By solving a set of equations acquired through the camera, the sensor can detect the contact location and the contact force, even through the contact point is hidden by occlusion. For two particular versions, we show some experimental results to verify the basic idea.

Makoto Kaneko
kaneko@huis.hiroshima-u.ac.jp