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

研究成果: Conference contribution

4 引用 (Scopus)

抜粋

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.

元の言語English
ホスト出版物のタイトル2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
出版者Institute of Electrical and Electronics Engineers Inc.
ページ2589-2595
ページ数7
ISBN(電子版)9781538680940
DOI
出版物ステータスPublished - 2018 12 27
イベント2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018 - Madrid, Spain
継続期間: 2018 10 12018 10 5

出版物シリーズ

名前IEEE International Conference on Intelligent Robots and Systems
ISSN(印刷物)2153-0858
ISSN(電子版)2153-0866

Conference

Conference2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
Spain
Madrid
期間18/10/118/10/5

ASJC Scopus subject areas

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

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  • これを引用

    Funabashi, S., Morikuni, S., Geier, A., Schmitz, A., Ogasa, S., Torno, T. P., Somlor, S., & Sugano, S. (2018). 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 (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