Methods for robotic tool-mediated haptic surface recognition

IEEE Haptics Symposium, HAPTICS

Volumn , Issue , 2014, Pages 49-56

  Romano, Joseph M ^a   Kuchenbecker, Katherine J ^a  

^a UNIVERSITY OF PENNSYLVANIA   (United States)

Author keywords

I.2.9 Artificial Intelligence ; Robotics?Manipulators; Robotics?Sensors

Indexed keywords

ARTIFICIAL INTELLIGENCE; MANIPULATORS; ROBOTICS; VIBRATION ANALYSIS;

CONTACT CONDITIONS; FREQUENCY-SCALING; FRICTIONAL FORCES; HAPTIC SENSATION; I.2.9 [ARTIFICIAL INTELLIGENCE]; PHYSICAL CONTACTS; PHYSICAL INTERACTIONS; TEXTURE RECOGNITION;

TOOLS;

EID: 84899570843     PISSN: 23247347     EISSN: 23247355     Source Type: Conference Proceeding    
DOI: 10.1109/HAPTICS.2014.6775432     Document Type: Conference Paper

References (31)

1. R. O. Ambrose, H. Aldridge, R. S. Askew, R. R. Burrdige, W. Bluethmann, M. Diftler, C. Lovchik, D. Magruder, and F. Rehnmark. Robonaut: NASA's space humanoid. IEEE Intelligent Systems, 15(4):57-63, 2000.
2. S. Bensmaia and M. Hollins. Pacinian representations of fine surface texture. Perception &Psychophysics, 67(5):842-854, 2005.
3. C. A. Brooks and K. Iagnemma. Vibration-based terrain classification for planetary exploration rovers. IEEE Transactions on Robotics, 21(6):1185-1191, 2005.
4. C.-C. Chang and C.-J. Lin. LIBSVM: A library for support vector machines. ACM Transactions on Intelligent Systems and Technology, 2(3):27:1-27:27, 2011.
5. R. Crowder. Toward robots that can sense texture by touch. Science, 312:1478-1479, 2006.
6. H. Culbertson, J. Unwin, B. E. Goodman, and K. J. Kuchenbecker. Generating haptic texture models from unconstrained tool-surface interactions. In Proc. IEEE World Haptics Conference, pages 295-300, Daejeon, South Korea, April 2013.
7. R. S. Dahiya, G. Metta, M. Valle, and G. Sandini. Tactile sensing-from humans to humanoids. IEEE Transactions on Robotics, 26(1):1-20, 2010.
8. J. Dargahi and S. Najarian. Human tactile perception as a standard for artificial tactile sensing-a review. International Journal of Medical Robotics and Computer Assisted Surgery, 1(1):23-35, 2005.
9. J. Edwards, J. Lawry, J. Rossiter, and C. Melhuish. Extracting textural features from tactile sensors. Bioinspiration &Biomimetics, 3(3):1-12, 2008.
10. P. F. Evangelista, M. J. Embrechts, and B. K. Szymanksi. Some properties of the gaussian kernel for one class learning. In Proceedings of the International Conference on Artificial Neural Networks, pages 269-278, 2007.
11. J. A. Fishel and G. E. Loeb. Bayesian exploration for intelligent identification of textures. Frontiers in Neurorobotics, 6(4), 2012.
12. C.W. Fox, B. Mitchinson, M. J. Pearson, A. G. Pipe, and T. J. Prescott. Contact type dependecy of texture classification in a whiskered mobile robot. Autonomous Robots, 26(4):223-239, 2009.
13. E. P. Gardner and C. I. Palmer. Simulation of motion on the skin. i. receptive fields and temporal frequency coding by cutaneous mechanoreceptors of optacon pulses delivered to the hand. Journal of Neurophysiology, 62(6):1410-1436, 1989.
14. J. J. Gibson. Observation on active touch. Psychological Review, 69(6):477-491, 1962.
15. P. Giguere and G. Dudek. A simple tactile probe for surface identification by mobile robots. IEEE Transactions on Robotics, 27(3):534-544, 2011.
16. M. Hollins, S. Bensmaia, and S. Risner. The duplex theory of tactile texture perception. In Annual Meeting of the International Society for Psychophysics, pages 115-120, 1998.
17. N. Jamali and C. Sammut. Majority voting: Material classification by tactile sensing using surface texture. IEEE Transactions on Robotics, 27(3):508-521, 2011.
18. M. Johnson and C. Balkenius. Experiments with self-organizing systems for texture and hardness perception. Global Journal of Computer Science and Technology, 9(4):53-62, 2009.
19. O. Kroemer, C. H. Lampert, and J. Peters. Learning dynamic tactile sensing with robust vision-based training. IEEE Transactions on Robotics, 27(3):545-557, 2011.
20. N. Landin, J. M. Romano, W. McMahan, and K. J. Kuchenbecker. Dimensional reduction of high-frequency accelerations for haptic rendering. In A. M. L. Kappers, J. B. F. van Erp, W. M. B. Tiest, and F. C. T. van der Helm, editors, Haptics: Generating and Perceiving Tangible Sensations, Proc. EuroHaptics, Part II, volume 6192 of Lec-ture Notes in Computer Science, pages 79-86. Springer, July 2010.
21. S. J. Lederman, R. D. Howe, R. L. Klatzky, and C. Hamilton. Force variability during surface contact with bare finger or rigid probe. In In-ternational Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, pages 154-160, 2004.
22. S. J. Lederman, A. Martin, C. Tong, and R. L. Klatzky. Relative performance using haptic and/or touch-produced auditory cues in a remote absolute texture identification task. In International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Sys-tems, pages 151-158, 2003.
23. J. C. Makous, R. M. Friedman, and C. J. Vierck. A critical band filter in touch. The Journal of Neuroscience, 15(4):2808-2818, 1995.
24. C. M. Oddo, M. Controzzi, L. Beccai, C. Cipriani, and M. C. Carrozza. Roughness encoding for discrimination of surfaces in artificial activetouch. IEEE Transactions on Robotics, 27(3):522-533, 2011.
25. A. Rabaoui, M. Davy, S. Rossignol, and N. Ellouze. Using one-class SVMs and wavelets for audio surveillance. IEEE Transactions on Information Forensics and Security, 3(4):763-775, 2008.
26. J. M. Romano, K. Hsiao, G. Niemeyer, S. Chitta, and K. J. Kuchenbecker. Human-inspired robotic grasp control with tactile sensing. IEEE Transactions on Robotics, 27(6):1067-1079, 2011. Accepted.
27. B. Scholkopf, J. C. Platt, J. Shawe-Taylor, A. J. Smola, and R. C. Williamson. Estimating the support of a high-dimensional distribution. Neural Computation, 13:1443-1471, 2001.
28. J. Sinapov, V. Sukhoy, R. Sahai, and A. Stoytchev. Vibrotactile recognition and categorization of surfaces by a humanoid robot. IEEE Transactions on Robotics, 27(3):488-497, 2011.
29. M. H. Sonneveld and H. N. Schifferstein. The tactual experience of objects. In H. N. Schifferstein and P. Hekkert, editors, Product Expe-rience, pages 41-66. Elsevier, 2008.
30. C. Weiss, H. Frohlich, and A. Zell. Vibration-based terrain classification using support vector machines. In Proceedings of IEEE/RSJ In-terational Conference on Intelligent Robots and Systems, pages 4429-4434, 2006.
31. T. Yoshioka and J. Zhou. Factors involved in tactile texture perception through probes. Advanced Robotics, 23(6):747-766, 2009.