Surface material recognition through haptic exploration using an intelligent contact sensing finger

IEEE International Conference on Intelligent Robots and Systems

Volumn , Issue , 2012, Pages 52-57

  Liu, Hongbin ^a   Song, Xiaojing ^a   Bimbo, Joao ^a   Seneviratne, Lakmal ^a   Althoefer, Kaspar ^a  

^a KING'S COLLEGE LONDON   (United Kingdom)

Author keywords

[No Author keywords available]

Indexed keywords

BAYES CLASSIFIER; CLASSIFICATION ACCURACY; CONTACT LOCATION; CONTACT SENSING; DYNAMIC FRICTION; EXPLORATION STRATEGIES; REAL TIME; SHORT STROKE; SLIDING VELOCITIES; SURFACE MATERIALS; TANGENTIAL FORCE; UNKNOWN ENVIRONMENTS; UNKNOWN OBJECTS;

INTELLIGENT SYSTEMS; LEARNING ALGORITHMS; PHYSICAL PROPERTIES; RADIAL BASIS FUNCTION NETWORKS; SURFACE PROPERTIES;

SURFACES;

EID: 84872316712     PISSN: 21530858     EISSN: 21530866     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2012.6385815     Document Type: Conference Paper

References (20)

1. Kirchner, N.; Dikai Liu; Dissanayake, G.; Surface Type Classification With a Laser Range Finder, IEEE Sensors Journal, Sept. 2009, vol : 9, Issue:9, pp: 1160-1168.
2. Clarenz, U.; Rumpf, M.; Telea, A.; Robust feature detection and local classification for surfaces based on moment analysis, IEEE Transactions on Visualization and Computer Graphics, 2004, vol: 10, Issue:5, pp: 516-524.
3. Klatzky, R. L., Lederman, S. J., & Metzger, V. A. (1985). Identifying objects by touch: An "expert system." Perception & Psychophysics, 37, 299-302.
4. Lederman, S. J., & Klatzky, R. L. (1990). Haptic classification of common objects: Knowledge-driven exploration. Cognitive Psychology, 22, 421-459.
5. Windau, J.; Wei-Min Shen; An Inertia-Based Surface Identification System, IEEE International Conference on Robotics and Automation, pp: 2330-2335, 2010.
6. 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
7. H. Liu, X. Song, T. Nanayakkara, L. Seneviratne, and K. Althoefer, A Computationally Fast Algorithm for Local Contact Shape and Pose Classification using a Tactile Array Sensor, accepted at IEEE Int. Conf. Robot. Autom., 2012.
8. Okamura, A.M.; Turner, M.L.; Cutkosky, M.R.,Haptic exploration of objects with rolling and sliding,IEEE International Conference on Robotics and Automation, vol.3, pp: 2485-2490. 1997
9. Okamura, A.M.; Cutkosky, M.R. (2001) Feature Detection for Haptic Exploration with Robotic Fingers,The International Journal of Robotics Research, 2001 20: 925
10. Gorges, N.; Navarro, S.E.; Goger, D.; Worn, H.; Haptic object recognition using passive joints and haptic key features Robotics and Automation (ICRA), 2010 IEEE International Conference on, 3-7 May 2010, pp: 2349-2355.
11. M. Tanaka, J. Levequem, H. Tagami, K. Kikuchi, and S. Chonan, "The "haptic finger" a new device for monitoring skin condition," Skin Res. Technol., vol. 9, no. 1, pp. 131-136, 2003.
12. K. Hosoda, Y. Tada, and M. Asada, "Anthropomorphic robotic soft fingertip with randomly distributed receptors," Robot. Auton. Syst., vol. 54, no. 2, pp.104-109, 2006.
13. Jamali, N.; Sammut, C.Majority Voting: Material Classification by Tactile Sensing Using Surface Texture, IEEE Transactions on Robotics. 2011,Volume: 27 Issue:3, Page(s): 508 - 521.
14. Johnsson, M.; Balkenius, C.; Sense of Touch in Robots With Self- Organizing Maps,IEEE Transactions on Robotics. 2011,Volume: 27 Issue:3 Page(s): 498 - 507.
15. Bicchi, A. and Salisbury, J. K. and Brock, D. L., "Contact Sensing from Force and Torque Measurements," The Int. J. of Robotics Research, 1993, vol. 12 no. 3 249-262.
16. K. Madsen, H.B. Nielsen, O. Tingleff, Methods for Non-Linear Least Square Problems, lecture notes, IMM, DTU, 2nd Edition, April 2004.
17. H. Olsson, KJ Astrom, CC de Wit, M. Gafvert, P. Lischinsky.(1998) Friction Models and Friction Compensation Eur. J. Control, Vol. 4, No. 3. 1998, pp. 176-195.
18. C. Canudas de Wit, H. Olsson, K. Astrom, P. Lischinsky. (1995) "A New Model for Control of Systems with Friction", IEEE Transactions on Automatic Control, 40,5, pp. 419-425, 1995.
19. Mitchell, T. Machine Learning, McGraw Hill, 1997.
20. S Chen, CFN Cowan, PM Grant, Orthogonal least squares learning algorithm for radial basis function networks, IEEE Transactions on Neural Network, vol.2, no.2, pp:302-309,1991.