Freedom descriptions: A way to find figures that approximate given points

摘要

A method is proposed to find the approximate shape of the points collected by the tactile sensor of a robot manipulator. Some of the figures considered are the rectangle, circle, parallelogram, and triangle. Many more figures can be handled because the system uses figure descriptions in terms of the degrees of freedom of the figure. These “freedom descriptions” may be considered a language for the definition of simple two dimensional figures.