A computationally fast algorithm for local contact shape and pose classification using a tactile array sensor

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2012, Pages 1410-1415

  Liu, Hongbin ^a   Song, Xiaojing ^b   Nanayakkara, Thrishantha ^b   Seneviratne, Lakmal D ^b   Althoefer, Kaspar ^b  

^a KING'S COLLEGE LONDON   (United Kingdom)

^b NONE

Author keywords

[No Author keywords available]

Indexed keywords

ROBOTIC ARMS;

BAYES CLASSIFIER; FAST ALGORITHMS; MANIPULATION TASK; OVERALL ACCURACIES; POSE CLASSIFICATIONS; PRESSURE VALUES; ROBOTIC FINGERTIP; TACTILE IMAGES;

ROBOTICS;

EID: 84864474713     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICRA.2012.6224872     Document Type: Conference Paper

References (19)

1. Bicchi, A.; Hands for dexterous manipulation and robust grasping: A difficult road towards simplicity, IEEE Trans. Robot. Automat., vol. 16, no. 6, pp. 652-662, 2000.
2. H Liu, J Li, X. Song, L. Seneviratne, K. Althoefer. "Rolling Indentation Probe for Tissue Abnormality Identification during Minimally Invasive Surgery", IEEE Transactions on Robotics. June 2011,vol: 27 Issue:3 pp: 450-460.
3. Jamali, N.; Sammut, C.; Material classification by tactile sensing using surface textures, IEEE International Conference on Robotics and Automation , pp:2336-2341. 2010.
4. J Tegin, J Wikander, "Tactile sensing in intelligent robotic manipulation - a review", Industrial Robot: An International Journal, Vol. 32, Iss: 1, pp.64-70, 2005
5. Dahiya, R.S.; Metta, G.; Valle, M.; Sandini, G.; Tactile Sensing - From Humans to Humanoids, IEEE Transactions on Robotics, vol: 26 (1), pp 1-20, 2010.
6. Fearing, R.S. "Tactile sensing mechanisms." Int. J. Robot. Res., 1990: 9:3-23.
7. Nicolson, E.J.; Fearing, R.S.; The reliability of curvature estimates from linear elastic tactile sensors, IEEE International Conference on Robotics and Automation, 1995 , Page(s): 1126-1133 vol.1
8. H. Zhang, and N. Chen, "Control of contact via tactile sensing," IEEE Transactions on Robotics and Automation, vol. 16 , no.5, pp.482-495, 2000.
9. Pezzementi, Z; Reyda, C; Hager, G D.; Object mapping, recognition, and localization from tactile geometry, IEEE Int. Conf. on Robotics and Automation 2011, pp.5942-5948
10. A. Schneider, J. Sturm, C. Stachniss, M. Reisert, H. Burkhardt, W. Burgard, Object identification with tactile sensors using bag of-features, IEEE/RSJ Int Conf. Intelligent Robots and Systems, 2009, pp. 243-248.
11. Heidemann, G.; Schopfer, M.; Dynamic tactile sensing for object identification; IEEE Int. Conf. on Robotics and Automation 2004, vol.1, pp:813-818.
12. Goger, D. Gorges, N. Worn, H. Tactile sensing for an anthropomorphic robotic hand: Hardware and signal processing, IEEE Int. Conf. on Robotics and Automation 2009, pp: 895-901.
13. K. L. Johnson, Contact Mechanics. London: Cambridge, 1985.
14. Jolliffe I T, Principal component analysis, New York : Springer, 2002.
15. Gilbert Strang, Introduction to linear algebra, Wellesley, MA : Wellesley-Cambridge Press, 1993
16. Sangpradit, K.; Liu, H.; Dasgupta, P.; Althoefer, K.; Seneviratne, L.; Finite Element Modelling of Soft Tissue Rolling Indentation, IEEE Transactions on Biomedical Engineering, 2011 vol: 58 (12), pp: 3319-3327
17. Mitchell, T. Machine Learning, McGraw Hill, 1997.
18. Puangmali, P; Althoefer, K; Seneviratne, L; Mathematical Modeling of Intensity-Modulated Bent-Tip Optical Fiber Displacement Sensors, IEEE Trans. Instrumentation Measurement 59 (2) pp: 283-291
19. H Liu; Noonan, D.P.; Challacombe, B.J.; Dasgupta, P.; Seneviratne, L.D.; Althoefer, K. Rolling Mechanical Imaging for Tissue Abnormality Localization During Minimally Invasive Surgery, IEEE Trans. on Biomedical Engineering, 2010, vol: 57 (2), pp: 404-414.