@inproceedings{7487e28c15204a418c8d239c52bbb00d,
title = "In-vitro optically aided robotics manipulation",
abstract = "This paper demonstrates the embedded application of a novel manipulator design for field robotics applications, specifically for underwater robotics applications. The In-Vitro Optically Aided Robotic Manipulation (IVOARM) constitutes a blind grasping concept using two anthropomorphic fingers with the aid of the directional force sensors and infra-red sensors mounted on it. This design is potentially useful in underwater marine sample manipulation tasks as it includes non-contact and contact based sensing at the finger tips. This manipulator is controlled by an embedded system with high DSP compatibility. The infra-red sensors are mounted on the surface of the finger gripper to detect the presence of the object in the area of the grasping. Our finding shows that the infra-red sensor is capable of differentiating the water condition due to temperature effect. The size and centroid of the object is determined with the aid of the in-vitro embedded infra-red sensors. We proposes a centroid estimation algorithm to determine the size and initiate the grasping configuration of the object. The results of the object size determination using the IVOARM is presented.",
author = "Tan, {Ching Seong} and Cheng, {Chia Loon} and Chia, {Kok Siang}",
year = "2011",
doi = "10.1109/RAMECH.2011.6070505",
language = "English",
isbn = "9781612842509",
series = "IEEE Conference on Robotics, Automation and Mechatronics, RAM - Proceedings",
pages = "326--331",
booktitle = "Proceedings of the 2011 IEEE 5th International Conference on Robotics, Automation and Mechatronics, RAM 2011",
note = "2011 IEEE 5th International Conference on Robotics, Automation and Mechatronics, RAM 2011 ; Conference date: 17-09-2011 Through 19-09-2011",
}
