Tactile Transfer Learning and Object Recognition With a Multifingered Hand Using Morphology Specific Convolutional Neural Networks

研究成果: Article査読

抄録

Multifingered robot hands can be extremely effective in physically exploring and recognizing objects, especially if they are extensively covered with distributed tactile sensors. Convolutional neural networks (CNNs) have been proven successful in processing high dimensional data, such as camera images, and are, therefore, very well suited to analyze distributed tactile information as well. However, a major challenge is to organize tactile inputs coming from different locations on the hand in a coherent structure that could leverage the computational properties of the CNN. Therefore, we introduce a morphology-specific CNN (MS-CNN), in which hierarchical convolutional layers are formed following the physical configuration of the tactile sensors on the robot. We equipped a four-fingered Allegro robot hand with several uSkin tactile sensors; overall, the hand is covered with 240 sensitive elements, each one measuring three-axis contact force. The MS-CNN layers process the tactile data hierarchically: at the level of small local clusters first, then each finger, and then the entire hand. We show experimentally that, after training, the robot hand can successfully recognize objects by a single touch, with a recognition rate of over 95%. Interestingly, the learned MS-CNN representation transfers well to novel tasks: by adding a limited amount of data about new objects, the network can recognize nine types of physical properties.

本文言語English
ページ(範囲)1-15
ページ数15
ジャーナルIEEE Transactions on Neural Networks and Learning Systems
DOI
出版ステータスAccepted/In press - 2022

ASJC Scopus subject areas

  • ソフトウェア
  • コンピュータ サイエンスの応用
  • コンピュータ ネットワークおよび通信
  • 人工知能

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