Tactile Sensor Data Interpretation for Estimation of Wire Features
Open Access
- 18 June 2021
- journal article
- research article
- Published by MDPI AG in Electronics
- Vol. 10 (12), 1458
- https://doi.org/10.3390/electronics10121458
Abstract
At present, the tactile perception is essential for robotic applications when performing complex manipulation tasks, e.g., grasping objects of different shapes and sizes, distinguishing between different textures, and avoiding slips by grasping an object with a minimal force. Considering Deformable Linear Object manipulation applications, this paper presents an efficient and straightforward method to allow robots to autonomously work with thin objects, e.g., wires, and to recognize their features, i.e., diameter, by relying on tactile sensors developed by the authors. The method, based on machine learning algorithms, is described in-depth in the paper to make it easily reproducible by the readers. Experimental tests show the effectiveness of the approach that is able to properly recognize the considered object’s features with a recognition rate up to 99.9%. Moreover, a pick and place task, which uses the method to classify and organize a set of wires by diameter, is presented.Keywords
Funding Information
- H2020 Industrial Leadership (870133)
This publication has 22 references indexed in Scilit:
- A Slip Detection and Correction Strategy for Precision Robot GraspingIEEE/ASME Transactions on Mechatronics, 2016
- Tactile sensing in dexterous robot hands — ReviewRobotics and Autonomous Systems, 2015
- Touch sensing for humanoid robotsIEEE Instrumentation & Measurement Magazine, 2015
- Artificial Tactile Sensing of Position and Slip Speed by Exploiting Geometrical FeaturesIEEE/ASME Transactions on Mechatronics, 2014
- Tactile sensing based softness classification using machine learningPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2014
- Artificial Sense of Slip—A ReviewIEEE Sensors Journal, 2013
- Tactile sensing for dexterous in-hand manipulation in robotics—A reviewSensors and Actuators A: Physical, 2011
- On the Decoding Process in Ternary Error-Correcting Output CodesIEEE Transactions on Pattern Analysis and Machine Intelligence, 2008
- Tactile sensing and control of robotic manipulationAdvanced Robotics, 1993
- Integrating Vision and Touch for Object Recognition TasksThe International Journal of Robotics Research, 1988