A multi-modal approach to continuous material identification through tactile sensing

A. Gómez Eguíluz, I. Rañó, S.A. Coleman, T.M. McGinnity

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

Abstract

Tactile sensing has been used in robotics for object identification, grasping, and material recognition. Most material recognition approaches use vibration signals from a tactile exploration, typically above one second long, to identify the material. This work proposes a tactile multi-modal (vibration and thermal) material identification approach based on recursive Bayesian estimation. Through the frequency response of the vibration induced by the material and thermal features, like an estimate of the thermal power loss of the finger, we show that it is possible to identify materials in less than half a second. Moreover, a comparison between vibration only and multi-modal identification shows that both recognition time and classification errors are reduced by adding thermal information.
Original languageEnglish
Title of host publication2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
PublisherIEEE
Publication date2016
Pages4912-4917
ISBN (Electronic)9781509037629
DOIs
Publication statusPublished - 2016
Externally publishedYes
Event2016 IEEE/RSJ International Conference on Intelligent Robots and Systems - Daejeon, Korea, Republic of
Duration: 9. Oct 201614. Oct 2016

Conference

Conference2016 IEEE/RSJ International Conference on Intelligent Robots and Systems
CountryKorea, Republic of
CityDaejeon
Period09/10/201614/10/2016

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