Technical Reports (CIS)

Document Type

Technical Report

Subject Area

GRASP

Date of this Version

July 1990

Comments

University of Pennsylvania Department of Computer and Information Science Technical Report No. MS-CIS-90-43.

Abstract

This paper presents an overview of ongoing research on surface exploration at the GRASP Lab. We are investigating the necessary components and modules that must be embedded into a robot for it to have the exploratory capabilities required to recover mechanical properties from a surface given minimal a priori information. Eventually, this information will be used to enable a robot stand and walk stably in an environment that is unknown and unconstrained. The laboratory setup involves a compliant wrist with six degrees of freedom, mounted on a robot arm, and a prototype foot mounted on the wrist. We have successfully designed and implemented exploratory procedures (ep's) to recover penetrability, material hardness and frictional characteristics by exploring the surface.

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Date Posted: 23 August 2007