NDLI: Haptic object recognition using passive joints and haptic key features

Content Provider	IEEE Xplore Digital Library
Author	Gorges, N. Navarro, S.E. Göger, D. Wörn, H.
Copyright Year	2010
Description	Author affiliation: Institute for Process Control and Robotics, Karlsruhe Institute of Technology, Germany (Gorges, N.; Navarro, S.E.; Göger, D.; Wörn, H.)
Abstract	This paper presents a novel approach for haptic object recognition with an anthropomorphic robot hand. Firstly, passive degrees of freedom are introduced to the tactile sensor system of the robot hand. This allows the planar tactile sensor patches to optimally adjust themselves to the object's surface and to acquire additional sensor information for shape reconstruction. Secondly, this paper presents an approach to classify an object directly from the haptic sensor data acquired by a palpation sequence with the robot hand - without building a 3d-model of the object. Therefore, a finite set of essential finger positions and tactile contact patterns are identified which can be used to describe a single palpation step. A palpation sequence can then be merged into a simple statistical description of the object and finally be classified. The proposed approach for haptic object recognition and the new tactile sensor system are evaluated with an anthropomorphic robot hand.
Starting Page	2349
Ending Page	2355
File Size	1095229
Page Count	7
File Format	PDF
ISBN	9781424450381
ISSN	10504729
DOI	10.1109/ROBOT.2010.5509553
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-05-03
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Haptic interfaces Object recognition Tactile sensors Robot sensing systems Shape Transmission line matrix methods Sensor systems Robotics and automation Anthropomorphism Surface reconstruction
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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