Classification of rigid and deformable objects using a novel tactile sensor

Alin Drimus*, Gert Kootstra, Arne Bilberg, Danica Kragic

*Corresponding author for this work

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

27 Citations (Scopus)

Abstract

In this paper, we present a novel tactile-array sensor for use in robotic grippers based on flexible piezoresistive rubber. We start by describing the physical principles of piezoresistive materials, and continue by outlining how to build a flexible tactile-sensor array using conductive thread electrodes. A real-time acquisition system scans the data from the array which is then further processed. We validate the properties of the sensor in an application that classifies a number of household objects while performing a palpation procedure with a robotic gripper. Based on the haptic feedback, we classify various rigid and deformable objects. We represent the array of tactile information as a time series of features and use this as the input for a k-nearest neighbors classifier. Dynamic time warping is used to calculate the distances between different time series. The results from our novel tactile sensor are compared to results obtained from an experimental setup using a Weiss Robotics tactile sensor with similar characteristics. We conclude by exemplifying how the results of the classification can be used in different robotic applications.

Original languageEnglish
Title of host publicationIEEE 15th International Conference on Advanced Robotics
Subtitle of host publicationNew Boundaries for Robotics, ICAR 2011
PublisherIEEE Xplore
Pages427-434
Number of pages8
ISBN (Print)9781457711589
DOIs
Publication statusPublished - 28 Dec 2011
Externally publishedYes
EventIEEE 15th International Conference on Advanced Robotics: New Boundaries for Robotics, ICAR 2011 - Tallinn, Estonia
Duration: 20 Jun 201123 Jun 2011

Publication series

NameIEEE 15th International Conference on Advanced Robotics: New Boundaries for Robotics, ICAR 2011

Conference

ConferenceIEEE 15th International Conference on Advanced Robotics: New Boundaries for Robotics, ICAR 2011
CountryEstonia
CityTallinn
Period20/06/1123/06/11

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