Object Recognition Through Active Sensing Using a Multi-Fingered Robot Hand with 3D Tactile Sensors

Satoshi Funabashi, Shu Morikuni, Andreas Geier, Alexander Schmitz, Shun Ogasa, Tito Pradhono Torno, Sophon Somlor, Shigeki Sugano

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

This paper investigates tactile object recognition with relatively densely distributed force vector measurements and evaluates what kind of tactile information is beneficial for object recognition. The uSkin tactile sensors are embedded in an Allegro Hand, and provide 240 triaxial force vector measurements in total in all fingers. Active object sensing is used to gather time-series training and testing data. A simple feedforward, a recurrent, and a convolutional neural network are used for recognizing objects. Evaluations with different number of employed measurements, static vs. time series data and force vector vs. only normal force vector measurements show that the high-dimensional information provided by the sensors is indeed beneficial. An object recognition rate of up to 95% for 20 objects was achieved.

Original languageEnglish
Title of host publication2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2589-2595
Number of pages7
ISBN (Electronic)9781538680940
DOIs
Publication statusPublished - 2018 Dec 27
Event2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018 - Madrid, Spain
Duration: 2018 Oct 12018 Oct 5

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
CountrySpain
CityMadrid
Period18/10/118/10/5

Fingerprint

Object recognition
End effectors
Robots
Sensors
Time series
Neural networks
Testing

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Cite this

Funabashi, S., Morikuni, S., Geier, A., Schmitz, A., Ogasa, S., Torno, T. P., ... Sugano, S. (2018). Object Recognition Through Active Sensing Using a Multi-Fingered Robot Hand with 3D Tactile Sensors. In 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018 (pp. 2589-2595). [8594159] (IEEE International Conference on Intelligent Robots and Systems). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2018.8594159

Object Recognition Through Active Sensing Using a Multi-Fingered Robot Hand with 3D Tactile Sensors. / Funabashi, Satoshi; Morikuni, Shu; Geier, Andreas; Schmitz, Alexander; Ogasa, Shun; Torno, Tito Pradhono; Somlor, Sophon; Sugano, Shigeki.

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018. Institute of Electrical and Electronics Engineers Inc., 2018. p. 2589-2595 8594159 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Funabashi, S, Morikuni, S, Geier, A, Schmitz, A, Ogasa, S, Torno, TP, Somlor, S & Sugano, S 2018, Object Recognition Through Active Sensing Using a Multi-Fingered Robot Hand with 3D Tactile Sensors. in 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018., 8594159, IEEE International Conference on Intelligent Robots and Systems, Institute of Electrical and Electronics Engineers Inc., pp. 2589-2595, 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018, Madrid, Spain, 18/10/1. https://doi.org/10.1109/IROS.2018.8594159
Funabashi S, Morikuni S, Geier A, Schmitz A, Ogasa S, Torno TP et al. Object Recognition Through Active Sensing Using a Multi-Fingered Robot Hand with 3D Tactile Sensors. In 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018. Institute of Electrical and Electronics Engineers Inc. 2018. p. 2589-2595. 8594159. (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2018.8594159
Funabashi, Satoshi ; Morikuni, Shu ; Geier, Andreas ; Schmitz, Alexander ; Ogasa, Shun ; Torno, Tito Pradhono ; Somlor, Sophon ; Sugano, Shigeki. / Object Recognition Through Active Sensing Using a Multi-Fingered Robot Hand with 3D Tactile Sensors. 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018. Institute of Electrical and Electronics Engineers Inc., 2018. pp. 2589-2595 (IEEE International Conference on Intelligent Robots and Systems).
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