Haptic classification and recognition of objects using a tactile sensing forearm

IEEE International Conference on Intelligent Robots and Systems

Volumn , Issue , 2012, Pages 4090-4097

  Bhattacharjee, Tapomayukh ^a   Rehg, James M ^a   Kemp, Charles C ^a  

^a GEORGIA INSTITUTE OF TECHNOLOGY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

CLASSIFICATION ACCURACY; CLASSIFICATION AND RECOGNITION; CONTACT AREAS; CONTACT MOTION; CONTACT REGIONS; CROSS VALIDATION; FEATURE VECTORS; K-NEAREST NEIGHBOR ALGORITHM; LARGE SURFACE AREA; MANIPULATION TASK; TACTILE SENSING; TACTILE SENSOR ARRAY;

INTELLIGENT SYSTEMS; OBJECT RECOGNITION; TIME SERIES;

MECHANICAL PROPERTIES;

EID: 84872349110     PISSN: 21530858     EISSN: 21530866     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2012.6386142     Document Type: Conference Paper

References (28)

1. D. Katz, and O. Brock, "Manipulating articulated objects with interactive perception", in Proceedings of International Conference on Robotics and Automation, pp. 272-277, May 2008.
2. J. Sun, J. L. Moore, A. Bobick, and J. M. Rehg, "Learning Visual Object Categories for Robot Affordance Prediction", International Journal of Robotics Research, vol. 29, no. (2-3), pp. 174-197, February/ March 2010.
3. A. Petrovskaya, O. Khatib, S. Thrun, A. Y. Ng, "Touch Based Perception for Object Manipulation", in Robotics Science and Systems Conference, Robot Manipulation Workshop, Atlanta, GA, 2007.
4. A. Drimus, G. Kootstra, A. Bilberg, and D. Kragic, "Classification of Rigid and Deformable Objects Using a Novel Tactile Sensor", to appear in Proceedings of 15th International Conference on Advanced Robotics(ICAR), 2011.
5. V. Sukhoy, R. Sahai, J. Sinapov, and A. Stoytchev, "Vibrotactile Recognition of Surface Textures by a Humanoid Robot", in Proceedings of the 2009 Humanoids Workshop: Tactile Sensing in Humanoids Tactile Sensors and Beyond, 2009.
6. H. Ho, and L. A. Jones, "Material Identification using Real and Simulated Thermal Cues", in Proceedings of the 26th Annual International Conference of the IEEE EMBS, pp. 2462-2465, September 2004.
7. Y. S. Kim, and T. Kesavadas, "Material Property Recognition by Active Tapping for Fingertip Digitizing", in Proceedings of the Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, March 2006.
8. S. Takamuku, G. Gomez, K. Hosoda, and R. Pfeifer, "Haptic Discrimination of Material Properties by a Robotic Hand", in Proceedings of IEEE 6th International Conference on Development and Learning (ICDL), pp. 1-6, 2007.
9. K. Hosoda, and T. Iwase, "Robust Haptic Recognition by Anthropomorphic Bionic Hand through Dynamic Interaction", in Proceedings of International Conference on Intelligent Robots and Systems (IROS), pp. 1236-1241, 2010.
10. B. Frank, R. Schmedding, C. Stachniss, M. Teschner, and W. Burgard, "Learning the Elasticity Parameters of Deformable Objects with a Manipulation Robot", in Proceedings of International Conference on Intelligent Robots and Systems(IROS), pp. 1877-1883, 2010.
11. B. Frank, R. Schmedding, C. Stachniss, M. Teschner, and W. Burgard, "Learning Deformable Object Models for Mobile Robot Navigation using Depth Cameras and a Manipulation Robot", in Proceedings of the Workshop on Advanced Reasoning with Depth Cameras at Robotics, Science and Systems Conference (RSS), 2010.
12. N. Ueda, S. Hirai, H. T. Tanaka, "Extracting Rheological Properties of Deformable Objects with Haptic Vision", in Proceedings of the 2004 IEEE International Conference on Robotics and Automation, April 2004.
13. N. Nizar, A. Charniya, and S. V. Dudul, "Sensor for Classification of Material Type and its Surface Properties using Radial Basis Networks", IEEE Sensors Journal, vol. 8, no. 12, p. 1981-1991, December 2008.
14. R. Platt Jr, F. Permenter, and J. Pfeiffer, "Using Bayesian Filtering to Interpret Tactile Data During Flexible Materials Manipulation", IEEE Transactions on Robotics, Special Issue on A Robotic Sense of Touch, vol. 27, no. 3, pp. 586-598, June 2011.
15. K. Matheus, and A. M. Dollar, "Benchmarking Grasping and Manipulation: Properties of the Objects of Daily Living", in roceedings of International Conference on Intelligent Robots and Systems (IROS), pp. 5020-5027, 2010.
16. R. Kikuuwe, and T. Yoshikawa, "Recognizing Object Surface Properties Using Impedance Perception", in Proceedings of International Symposium on Micromechatronics and Human Science, 2003.
17. A. Schneider, J. Sturm, and C. Stachniss, "Object Identification with Tactile Sensors using Bag-of-Features", in Proceedings of International Conference on Intelligent Robots and Systems (IROS), pp. 243-248, 2009.
18. P. K. Allen, and K. S. Roberts, "Haptic Object Recognition Using a Multi-Fingered Dexterous Hand", in Proceedings of International Conference on robotics and Automation (ICRA), pp. 342 - 347, 1989.
19. S. Caselli, C. Magnanini, and F. Zanichelli, "Haptic Object Recognition with a Dexterous Hand Based on Volumetric Shape Representations", in Proceedings of the 1994 International Conference on Multisensor Fusion and Integration for Intelligent Systems, 1994.
20. E. Faldella, B. Fringuelli, D. Passeri, and L. Rosi, "A Neural Approach to Robotic Haptic Recognition of 3-D Objects Based on Kohonen Self- Organizing Feature Map", IEEE Transactions on Industrial Electronics, vol. 44, no. 2, pp. 267-269, April 1997.
21. Z. Pezzementi, E. Plaku, C. Reyda, and G. D. Hager, "Tactile Object Recognition from Appearance Information", IEEE Transactions on Robotics, vol. 27, no. 3, pp. 473-486, June 2011.
22. N. Gorges, S. E. Navarro, D. Goger, and H. Worn, "Haptic Object Recognition using Passive Joints and Haptic Key Features", in Proceedings of IEEE International Conference on Robotics and Automation (ICRA), pp. 2349-2355, May 2010.
23. J. Sinapov, M. Weimer, and A. Stoytchev, "Interactive Learning of the Acoustic Properties of Household Objects", in Proceedings of the 2009 IEEE International Conference on Robotics and Automation (ICRA), pp. 2518-2524, 2009.
24. T. Berquist, C. Schenck, U. Ohiri, J. Sinapov, S. Griffith, and A. Stoytchev, "Interactive object Recognition using Proprioceptive Feedback", in Proceedings of the 2009 IROS Workshop on Semantic Perception for Mobile Manipulation (IROS), 2009.
25. S. Griffith, J. Sinapov, V. Sukhoy, and A. Stoytchev, "A Behavior Grounded Approach to Forming Object Categories: Separating Containers from Non-Containers", to appear in IEEE Transactions on Autonomous Mental Development, 2011.
26. J. Sinapov, T. Bergquist, C. Schenck, U. Ohiri, S. Griffith, and A. Stoytchev, "Interactive Object Recognition Using Proprioceptive and Auditory Feedback", International Journal of Robotics Research, vol. 30, no. 10, pp. 1250-1262, September 2011.
27. J. Ulmen, A. Edsinger, and M. Cutkosky, "A Highly Sensitive, Manufacturable, Low-Cost Tactile Sensor for Responsive Robots", submitted to IEEE International Conference on Robotics and Automation, 2012.
28. I. Guyon, and A. Elisseeff, "An Introduction to Variable and Feature Selection", Journal of Machine Learning Research, vol. 3, pp. 1157-1182, 2003.