Tactile identification of object shapes via in-hand manipulation with a minimalistic barometric tactile sensor array
File(s)XZ_ICRA2023_Final.pdf (1.6 MB)
Accepted version
Author(s)
Zhou, Xin
Spiers, Adam J
Type
Conference Paper
Abstract
With the goal of providing an alternative to optical and other tactile sensors, we set out to stress test the object shape identification capabilities of barometric tactile arrays in robotic manipulation tasks. These sensors are superior to optical devices in terms of form factor, ease of fabrication, and data reading/processing speeds, but lack the necessary spatial resolution to identify surface shapes via a single contact. To compensate, we utilize in-hand-manipulation, specifically in- hand-rolling to identify object shapes via a spatiotemporal approach. To increase task difficulty, we only use three neighboring barometric sensors and designed strict experiment requirements with the purpose of creating a set of extremely confusable test objects. The E- TRoll robotic hand, equipped with a barometric tactile array on one finger, was used to roll test objects within its grasp, taking just under 3.4 seconds for data collection under the fastest tested speed setting, compared to 33 seconds in our previous work. We also designed and implemented a feature extraction algorithm, based and improved upon our recently published algorithm. This captures enough information from the collected spatiotemporal data samples for successful classification with only 13 features. Finally, a bagged tree classification algorithm was trained and optimized with data from 1,164 trials of rolling 9 prismatic test objects, leading to a five-fold cross validation accuracy of 90.5% for identifying the 9 object classes.
Date Issued
2023-07-04
Date Acceptance
2023-05-01
Citation
2023 IEEE International Conference on Robotics and Automation (ICRA), 2023, pp.12590-12596
Publisher
IEEE
Start Page
12590
End Page
12596
Journal / Book Title
2023 IEEE International Conference on Robotics and Automation (ICRA)
Copyright Statement
Copyright © 2023 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Identifier
http://dx.doi.org/10.1109/icra48891.2023.10160975
Source
2023 IEEE International Conference on Robotics and Automation (ICRA)
Publication Status
Published
Start Date
2023-05-29
Finish Date
2023-06-02
Coverage Spatial
London, UK