Abstrakt
For both humans and robots, tactile sensing is
important for interaction with the environment: it is the core
sensing used for exploration and manipulation of objects. In
this paper, we present a method for determining object texture
by active exploration with a robotic fingertip equipped with
a dynamic tactile transducer based on polyvinylidene fluoride
(PVDF) piezoelectric film. Different test surfaces are actively
explored and the signal from the sensor is used for feature
extraction, which is subsequently used for classification. A
comparison between the significance of different extracted
features and performance of learning algorithms is done and the
best method is further used to classify objects by their surface
textures with recognition results higher than 90 percent.
important for interaction with the environment: it is the core
sensing used for exploration and manipulation of objects. In
this paper, we present a method for determining object texture
by active exploration with a robotic fingertip equipped with
a dynamic tactile transducer based on polyvinylidene fluoride
(PVDF) piezoelectric film. Different test surfaces are actively
explored and the signal from the sensor is used for feature
extraction, which is subsequently used for classification. A
comparison between the significance of different extracted
features and performance of learning algorithms is done and the
best method is further used to classify objects by their surface
textures with recognition results higher than 90 percent.
| Originalsprog | Engelsk |
|---|---|
| Publikationsdato | sep. 2012 |
| Antal sider | 7 |
| Status | Udgivet - sep. 2012 |
| Begivenhed | Ro-Man '12: 21st IEEE International Symposium on Robot and Human Interactive Communication - Paris, Frankrig Varighed: 10. sep. 2012 → 13. sep. 2012 |
Konference
| Konference | Ro-Man '12 |
|---|---|
| Land/Område | Frankrig |
| By | Paris |
| Periode | 10/09/2012 → 13/09/2012 |