Haptic exploration is a process of using haptic feedback to interact and perceive an unknown object. It is an essential approach to understand the physical and geometrical properties of the object. While numerous research has been carried out for haptic exploration on static objects, haptic exploration on objects with dynamic movements has not been reported. It is due to the significant challenges to achieve robust force and velocity control when the object is nonstationary. In this work, a novel adaptive force and velocity control algorithm based on intrinsic contact sensing (ICS) for haptic surface exploration of dynamic objects is presented. A fuzzy-logic control framework making use of the information obtained from ICS has been developed. To validate the proposed control algorithm, extensive surface exploration experiments have been carried out on objects with different surface properties, geometries, stiffness, and concave or convex patterns. The validation results demonstrate the high accuracy and robustness of the proposed algorithm using different experimental platforms.
- Autonomous control
- Fuzzy logic