Unplanned, model-free, single grasp object classification with underactuated hands and force sensors

IEEE International Conference on Intelligent Robots and Systems

Volumn 2015-December, Issue , 2015, Pages 5073-5080

  Liarokapis, Minas V ^a   Calli, Berk ^a   Spiers, Adam J ^a   Dollar, Aaron M ^a  

^a Yale University   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ARTIFICIAL INTELLIGENCE; DECISION TREES; LEARNING SYSTEMS; OBJECT RECOGNITION; ROBOTIC ARMS; ROBOTS; STIFFNESS;

CALCULATION PROCEDURE; CLASSIFICATION TECHNIQUE; FORCE CLOSURE GRASPS; MACHINE LEARNING TECHNIQUES; OBJECT CLASSIFICATION; OBJECT EXPLORATION; UNDERACTUATED HAND; UNDERACTUATED ROBOT;

INTELLIGENT ROBOTS;

EID: 84958183272     PISSN: 21530858     EISSN: 21530866     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2015.7354091     Document Type: Conference Paper

References (28)

1. F. de Boissieu, C. Godin, G. B., D. David, C. Serviere, and D. Baudois, "Tactile texture recognition with a 3-axial force {MEMS} integrated artificial finger, " in Proceedings of Robotics: Science and Systems, 2009.
2. T. Bhattacharjee, J. M. Rehg, and C. C. Kemp, "Inferring Object Properties from Incidental Contact with a Tactile Sensing Forearm, " CoRR, Sep. 2014.
3. B. Frank, R. Schmedding, C. Stachniss, M. Teschner, and W. Burgard, "Learning the elasticity parameters of deformable objects with a manipulation robot, " in 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010, pp. 1877-1883.
4. J. Sinapov, V. Sukhoy, R. Sahai, and A. Stoytchev, "Vibrotactile Recognition and Categorization of Surfaces by a Humanoid Robot, " IEEE Trans. Robot., vol. 27, no. 3, pp. 488-497, Jun. 2011.
5. M. Schopfer, M. Pardowitz, R. Haschke, and H. Ritter, "Identifying Relevant Tactile Features for Object Identification, " in Towards Service Robots for Everyday Environments, Springer Tracts in Advanced Robotics, Volume 76, 2012, pp. 417-430.
6. A. Drimus, G. Kootstra, A. Bilberg, and D. Kragic, "Classification of rigid and deformable objects using a novel tactile sensor, " in 2011 15th International Conference on Advanced Robotics (ICAR), 2011, pp. 427-434.
7. H. Soh and Y. Demiris, "Incrementally learning objects by touch: online discriminative and generative models for tactilebased recognition, " IEEE Trans. Haptics, vol. 7, no. 4, pp. 512-25, Jan. 2014.
8. R. S. Johansson and J. R. Flanagan, "Coding and use of tactile signals from the fingertips in object manipulation tasks, " Nat. Rev. Neurosci., vol. 10, no. 5, pp. 345-59, May 2009.
9. E. B. Vander Poorten, E. Demeester, and P. Lammertse, "Haptic feedback for medical applications, a survey, " in Actuator, 2012.
10. S. J. Lederman and R. L. Klatzky, "Extracting object properties through haptic exploration, " Acta Psychol. (Amst)., vol. 84, pp. 29-40, 1993.
11. B. T. Bethea, A. M. Okamura, M. Kitagawa, T. P. Fitton, S. M. Cattaneo, V. L. Gott, W. A. Baumgartner, and D. D. Yuh, "Application of haptic feedback to robotic surgery, " J. Laparoendosc. Adv. Surg. Tech. A, vol. 14, pp. 191-195, 2004.
12. I. Bandyopadhyaya, D. Babu, A. Kumar, and J. Roychowdhury, "Tactile sensing based softness classification using machine learning, " in 2014 IEEE International Advance Computing Conference (IACC), 2014, pp. 1231-1236.
13. H. K. Lam, U. Ekong, H. Liu, B. Xiao, H. Araujo, S. H. Ling, and K. Y. Chan, "A study of neural-network-based classifiers for material classification, " Neurocomputing, vol. 144, pp. 367-377, Nov. 2014.
14. J. A. Fishel and G. E. Loeb, "Bayesian exploration for intelligent identification of textures, " Front. Neurorobot., vol. 6, p. 4, Jan. 2012.
15. V. Chu, I. McMahon, L. Riano, C. G. McDonald, J. M. Perez-Tejada, M. Arrigo, N. Fitter, J. C. Nappo, T. Darrell, and K. J. Kuchenbecker, "Using robotic exploratory procedures to learn the meaning of haptic adjectives, " in 2013 IEEE International Conference on Robotics and Automation (ICRA), 2013, pp. 3048-3055.
16. A. Schneider, J. Sturm, C. Stachniss, M. Reisert, H. Burkhardt, and W. Burgard, "Object identification with tactile sensors using bag-of-features, " in 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2009, pp. 243-248.
17. A. Drimus, G. Kootstra, A. Bilberg, and D. Kragic, "Design of a flexible tactile sensor for classification of rigid and deformable objects, " Rob. Auton. Syst., vol. 62, no. 1, pp. 3-15, Jan. 2014.
18. T. Bhattacharjee, J. M. Rehg, and C. C. Kemp, "Haptic classification and recognition of objects using a tactile sensing forearm, " in 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012, pp. 4090-4097.
19. M. Madry, L. Bo, D. Kragic, and D. Fox, "ST-HMP: Unsupervised Spatio-Temporal feature learning for tactile data, " in 2014 IEEE International Conference on Robotics and Automation (ICRA), 2014, pp. 2262-2269.
20. D. Xu, G. E. Loeb, and J. A. Fishel, "Tactile identification of objects using Bayesian exploration, " in 2013 IEEE International Conference on Robotics and Automation (ICRA), 2013, pp. 3056-3061.
21. A. Schmitz, Y. Bansho, K. Noda, H. Iwata, T. Ogata, and S. Sugano, "Tactile object recognition using deep learning and dropout, " in Humanoid Robots (Humanoids), 2014 14th IEEE-RAS International Conference on, 2014, pp. 1044-1050.
22. S. Chitta, M. Piccoli, and J. Sturm, "Tactile object class and internal state recognition for mobile manipulation, " in 2010 IEEE International Conference on Robotics and Automation (ICRA), 2010, pp. 2342-2348.
23. Tin Kam Ho, "Random decision forests, " in Proceedings of 3rd International Conference on Document Analysis and Recognition, 1995, vol. 1, pp. 278-282.
24. L. Breiman, "Random forests, " Mach. Learn., pp. 5-32, 2001.
25. B. C. Calli, A. Singh, S. Member, A. Walsman, S. Srinivasa, S. Member, P. Abbeel, S. Member, A. M. Dollar, and S. Member, "Benchmarking in Manipulation Research: The YCB Object and Model Set and Benchmarking Protocols, " IEEE Robot. Autom. Mag., 2015.
26. R. R. Ma, L. U. Odhner, and A. M. Dollar, "A modular, opensource 3D printed underactuated hand, " in Proceedings-IEEE International Conference on Robotics and Automation (ICRA), 2013, pp. 2737-2743.
27. L. P. Jentoft, Y. Tenzer, D. Vogt, R. J. Wood, and R. D. Howe, "Flexible, stretchable tactile arrays from MEMS barometers, " 2013 16th Int. Conf. Adv. Robot., pp. 1-6, 2013.
28. S. Theodoridis and K. Koutroumbas, Pattern Recognition, 4th edition, 2008, Academic Press.