Proceedings ArticleDOI
A robotic tactile perception system concept
Emil M. Petriu,M.A. Greenspan,W.S. McMath,S.S.K. Yeung +3 more
- pp 132-135
TLDR
Preliminary test results demonstrate that overlapping tactile exploration allows recovery from sensor/target misalignment, enables improved data correlation, and consequently produces a more precise 3-D object identification.Abstract:
An experimental robotic tactile system is under development to characterize and identify three-dimensional (3-D) objects through a procedure of active sequential exploration. The experimental setup is described, and a data fusion technique for precise object identification is presented. Preliminary test results demonstrate that overlapping tactile exploration allows recovery from sensor/target misalignment, enables improved data correlation, and consequently produces a more precise 3-D object identification. Only quasi-static (static kinesthetic plus robot kinematic) tactile sensing has been considered, with the objective of better establishing global 3-D geometric features of the target object. >read more
Citations
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Proceedings ArticleDOI
Biology-inspired multimodal tactile sensor system
TL;DR: Development issues for a robotic tactile sensing capability inspired by the human hand's touch feeling produced by cutaneous mechanoreceptive transducers providing multimodal sensory information about the touched object surface are discussed.
References
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Journal ArticleDOI
Multisensor integration and fusion in intelligent systems
Ren C. Luo,Michael G. Kay +1 more
TL;DR: The issues involved in integrating multiple sensors into the operation of a system are presented in the context of the type of information these sensors can uniquely provide, along with proposed high-level multisensory representations suitable for mobile robot navigation and control.
Journal ArticleDOI
Tactile sensors and the gripping challenge: Increasing the performance of sensors over a wide range of force is a first step toward robotry that can hold and manipulate objects as humans do
TL;DR: The three major types of tactile sensors currently available, namely optical sensors, conductive elastomer sensors, and silicon strain gauges, are discussed in this paper, with a focus on the new tactile sensing possibilities that are opening up as more data on the human skin becomes available.
Proceedings ArticleDOI
Edge detection in tactile images
TL;DR: A straight line extraction method has been employed by which one can obtain the polygonal approximation of the shape of the object by sequential touching and integrating the straight lines so extracted for larger objects.
Journal ArticleDOI
Feature-Based Tactile Object Recognition
TL;DR: A technique is described for the generation of constraints on object identity and placement such that information from multiple sensor contacts may cooperate towards interpretation.