Object texture recognition by dynamic tactile sensing using active exploration

Alin Drimus, Mikkel Børlum Petersen, Arne Bilberg

Publikation: Konferencebidrag uden forlag/tidsskriftPaperForskningpeer review

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.
OriginalsprogEngelsk
Publikationsdatosep. 2012
Antal sider7
StatusUdgivet - sep. 2012
BegivenhedRo-Man '12: 21st IEEE International Symposium on Robot and Human Interactive Communication - Paris, Frankrig
Varighed: 10. sep. 201213. sep. 2012

Konference

KonferenceRo-Man '12
Land/OmrådeFrankrig
ByParis
Periode10/09/201213/09/2012

Bibliografisk note

Paper presented at RO-MAN 2012, IEEE International Symposium on Robot and Human Interactive Communication, Sept. 2012, Paris, France

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