Shape classification based on tactile information by Universal Robot Hand
We propose a shape classification in continuous rotational manipulation by a multi-fingered robot hand. Our robot hand has five fingers equipped with tactile sensors. Each tactile sensor can measure a pressure distribution once every 10 ms while the robot hand rotates an object continuously. Our pro...
Gespeichert in:
| Hauptverfasser: | , , , , , |
|---|---|
| Format: | Tagungsbericht |
| Sprache: | eng |
| Schlagworte: | |
| Online-Zugang: | Volltext bestellen |
| Tags: |
Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
|
| container_end_page | 2365 |
|---|---|
| container_issue | |
| container_start_page | 2360 |
| container_title | |
| container_volume | |
| creator | Nakamoto, H. Fukui, W. Kobayashi, F. Kojima, F. Imamura, N. Shirasawa, H. |
| description | We propose a shape classification in continuous rotational manipulation by a multi-fingered robot hand. Our robot hand has five fingers equipped with tactile sensors. Each tactile sensor can measure a pressure distribution once every 10 ms while the robot hand rotates an object continuously. Our proposal classification method consists of the following processes: A kurtosis is calculated from each pressure distribution, and it quantifies the shape of the current contact surface. By rotating an object and measuring a time-series pressure distribution, the hand obtains a time-series kurtosis. An evaluated value is calculated from the time-series kurtosis and reference patterns using continuous dynamic programming (CDP) matching scheme. The contact shape is classified whether the evaluated value is lower than a given threshold. Experiments using three symmetrical objects and an asymmetrical object demonstrate the effectiveness of our proposal shape classification. |
| doi_str_mv | 10.1109/IECON.2009.5415419 |
| format | Conference Proceeding |
| fullrecord | <record><control><sourceid>ieee_6IE</sourceid><recordid>TN_cdi_ieee_primary_5415419</recordid><sourceformat>XML</sourceformat><sourcesystem>PC</sourcesystem><ieee_id>5415419</ieee_id><sourcerecordid>5415419</sourcerecordid><originalsourceid>FETCH-LOGICAL-i175t-602c1485048f88a1dcd54b3c5c73318e25d67aad66dcd38de421f4e431b68a313</originalsourceid><addsrcrecordid>eNpNUFFLwzAYjKjgmP0D-pI_0Jmv-ZKmj1KmKwwH6sC38TVJMdK1oynC_r2F9cHj4O44uIdj7AHECkAUT9W63L2tMiGKlUKYWFyxpMgNYIaIWgl9_T-jkTdsAUrJVOXZ1x1LYvwRE1BBLooFqz6-6eS5bSnG0ARLY-g7XlP0jk9mJDuG1vPQNf1wnMsz33fh1w-RWv7e1_3IN9S5e3bbUBt9MuuS7V_Wn-Um3e5eq_J5mwbI1ZhqkVlAowSaxhgCZ53CWlplcynB-Ew5nRM5radGGucxgwY9Sqi1IQlyyR4vu8F7fzgN4UjD-TCfIf8AKi5QXg</addsrcrecordid><sourcetype>Publisher</sourcetype><iscdi>true</iscdi><recordtype>conference_proceeding</recordtype></control><display><type>conference_proceeding</type><title>Shape classification based on tactile information by Universal Robot Hand</title><source>IEEE Electronic Library (IEL) Conference Proceedings</source><creator>Nakamoto, H. ; Fukui, W. ; Kobayashi, F. ; Kojima, F. ; Imamura, N. ; Shirasawa, H.</creator><creatorcontrib>Nakamoto, H. ; Fukui, W. ; Kobayashi, F. ; Kojima, F. ; Imamura, N. ; Shirasawa, H.</creatorcontrib><description>We propose a shape classification in continuous rotational manipulation by a multi-fingered robot hand. Our robot hand has five fingers equipped with tactile sensors. Each tactile sensor can measure a pressure distribution once every 10 ms while the robot hand rotates an object continuously. Our proposal classification method consists of the following processes: A kurtosis is calculated from each pressure distribution, and it quantifies the shape of the current contact surface. By rotating an object and measuring a time-series pressure distribution, the hand obtains a time-series kurtosis. An evaluated value is calculated from the time-series kurtosis and reference patterns using continuous dynamic programming (CDP) matching scheme. The contact shape is classified whether the evaluated value is lower than a given threshold. Experiments using three symmetrical objects and an asymmetrical object demonstrate the effectiveness of our proposal shape classification.</description><identifier>ISSN: 1553-572X</identifier><identifier>ISBN: 9781424446483</identifier><identifier>ISBN: 1424446481</identifier><identifier>EISBN: 9781424446506</identifier><identifier>EISBN: 9781424446490</identifier><identifier>EISBN: 1424446503</identifier><identifier>EISBN: 142444649X</identifier><identifier>DOI: 10.1109/IECON.2009.5415419</identifier><language>eng</language><publisher>IEEE</publisher><subject>Dynamic programming ; Fingers ; Humans ; Pattern matching ; Pressure measurement ; Proposals ; Robot sensing systems ; Rotation measurement ; Shape ; Tactile sensors</subject><ispartof>2009 35th Annual Conference of IEEE Industrial Electronics, 2009, p.2360-2365</ispartof><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/5415419$$EHTML$$P50$$Gieee$$H</linktohtml><link.rule.ids>309,310,776,780,785,786,2052,27902,54895</link.rule.ids><linktorsrc>$$Uhttps://ieeexplore.ieee.org/document/5415419$$EView_record_in_IEEE$$FView_record_in_$$GIEEE</linktorsrc></links><search><creatorcontrib>Nakamoto, H.</creatorcontrib><creatorcontrib>Fukui, W.</creatorcontrib><creatorcontrib>Kobayashi, F.</creatorcontrib><creatorcontrib>Kojima, F.</creatorcontrib><creatorcontrib>Imamura, N.</creatorcontrib><creatorcontrib>Shirasawa, H.</creatorcontrib><title>Shape classification based on tactile information by Universal Robot Hand</title><title>2009 35th Annual Conference of IEEE Industrial Electronics</title><addtitle>IECON</addtitle><description>We propose a shape classification in continuous rotational manipulation by a multi-fingered robot hand. Our robot hand has five fingers equipped with tactile sensors. Each tactile sensor can measure a pressure distribution once every 10 ms while the robot hand rotates an object continuously. Our proposal classification method consists of the following processes: A kurtosis is calculated from each pressure distribution, and it quantifies the shape of the current contact surface. By rotating an object and measuring a time-series pressure distribution, the hand obtains a time-series kurtosis. An evaluated value is calculated from the time-series kurtosis and reference patterns using continuous dynamic programming (CDP) matching scheme. The contact shape is classified whether the evaluated value is lower than a given threshold. Experiments using three symmetrical objects and an asymmetrical object demonstrate the effectiveness of our proposal shape classification.</description><subject>Dynamic programming</subject><subject>Fingers</subject><subject>Humans</subject><subject>Pattern matching</subject><subject>Pressure measurement</subject><subject>Proposals</subject><subject>Robot sensing systems</subject><subject>Rotation measurement</subject><subject>Shape</subject><subject>Tactile sensors</subject><issn>1553-572X</issn><isbn>9781424446483</isbn><isbn>1424446481</isbn><isbn>9781424446506</isbn><isbn>9781424446490</isbn><isbn>1424446503</isbn><isbn>142444649X</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2009</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNpNUFFLwzAYjKjgmP0D-pI_0Jmv-ZKmj1KmKwwH6sC38TVJMdK1oynC_r2F9cHj4O44uIdj7AHECkAUT9W63L2tMiGKlUKYWFyxpMgNYIaIWgl9_T-jkTdsAUrJVOXZ1x1LYvwRE1BBLooFqz6-6eS5bSnG0ARLY-g7XlP0jk9mJDuG1vPQNf1wnMsz33fh1w-RWv7e1_3IN9S5e3bbUBt9MuuS7V_Wn-Um3e5eq_J5mwbI1ZhqkVlAowSaxhgCZ53CWlplcynB-Ew5nRM5radGGucxgwY9Sqi1IQlyyR4vu8F7fzgN4UjD-TCfIf8AKi5QXg</recordid><startdate>200911</startdate><enddate>200911</enddate><creator>Nakamoto, H.</creator><creator>Fukui, W.</creator><creator>Kobayashi, F.</creator><creator>Kojima, F.</creator><creator>Imamura, N.</creator><creator>Shirasawa, H.</creator><general>IEEE</general><scope>6IE</scope><scope>6IH</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIO</scope></search><sort><creationdate>200911</creationdate><title>Shape classification based on tactile information by Universal Robot Hand</title><author>Nakamoto, H. ; Fukui, W. ; Kobayashi, F. ; Kojima, F. ; Imamura, N. ; Shirasawa, H.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i175t-602c1485048f88a1dcd54b3c5c73318e25d67aad66dcd38de421f4e431b68a313</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2009</creationdate><topic>Dynamic programming</topic><topic>Fingers</topic><topic>Humans</topic><topic>Pattern matching</topic><topic>Pressure measurement</topic><topic>Proposals</topic><topic>Robot sensing systems</topic><topic>Rotation measurement</topic><topic>Shape</topic><topic>Tactile sensors</topic><toplevel>online_resources</toplevel><creatorcontrib>Nakamoto, H.</creatorcontrib><creatorcontrib>Fukui, W.</creatorcontrib><creatorcontrib>Kobayashi, F.</creatorcontrib><creatorcontrib>Kojima, F.</creatorcontrib><creatorcontrib>Imamura, N.</creatorcontrib><creatorcontrib>Shirasawa, H.</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan (POP) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP) 1998-present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Nakamoto, H.</au><au>Fukui, W.</au><au>Kobayashi, F.</au><au>Kojima, F.</au><au>Imamura, N.</au><au>Shirasawa, H.</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Shape classification based on tactile information by Universal Robot Hand</atitle><btitle>2009 35th Annual Conference of IEEE Industrial Electronics</btitle><stitle>IECON</stitle><date>2009-11</date><risdate>2009</risdate><spage>2360</spage><epage>2365</epage><pages>2360-2365</pages><issn>1553-572X</issn><isbn>9781424446483</isbn><isbn>1424446481</isbn><eisbn>9781424446506</eisbn><eisbn>9781424446490</eisbn><eisbn>1424446503</eisbn><eisbn>142444649X</eisbn><abstract>We propose a shape classification in continuous rotational manipulation by a multi-fingered robot hand. Our robot hand has five fingers equipped with tactile sensors. Each tactile sensor can measure a pressure distribution once every 10 ms while the robot hand rotates an object continuously. Our proposal classification method consists of the following processes: A kurtosis is calculated from each pressure distribution, and it quantifies the shape of the current contact surface. By rotating an object and measuring a time-series pressure distribution, the hand obtains a time-series kurtosis. An evaluated value is calculated from the time-series kurtosis and reference patterns using continuous dynamic programming (CDP) matching scheme. The contact shape is classified whether the evaluated value is lower than a given threshold. Experiments using three symmetrical objects and an asymmetrical object demonstrate the effectiveness of our proposal shape classification.</abstract><pub>IEEE</pub><doi>10.1109/IECON.2009.5415419</doi><tpages>6</tpages></addata></record> |
| fulltext | fulltext_linktorsrc |
| identifier | ISSN: 1553-572X |
| ispartof | 2009 35th Annual Conference of IEEE Industrial Electronics, 2009, p.2360-2365 |
| issn | 1553-572X |
| language | eng |
| recordid | cdi_ieee_primary_5415419 |
| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Dynamic programming Fingers Humans Pattern matching Pressure measurement Proposals Robot sensing systems Rotation measurement Shape Tactile sensors |
| title | Shape classification based on tactile information by Universal Robot Hand |
| url | https://sfx.bib-bvb.de/sfx_tum?ctx_ver=Z39.88-2004&ctx_enc=info:ofi/enc:UTF-8&ctx_tim=2025-02-13T01%3A59%3A09IST&url_ver=Z39.88-2004&url_ctx_fmt=infofi/fmt:kev:mtx:ctx&rfr_id=info:sid/primo.exlibrisgroup.com:primo3-Article-ieee_6IE&rft_val_fmt=info:ofi/fmt:kev:mtx:book&rft.genre=proceeding&rft.atitle=Shape%20classification%20based%20on%20tactile%20information%20by%20Universal%20Robot%20Hand&rft.btitle=2009%2035th%20Annual%20Conference%20of%20IEEE%20Industrial%20Electronics&rft.au=Nakamoto,%20H.&rft.date=2009-11&rft.spage=2360&rft.epage=2365&rft.pages=2360-2365&rft.issn=1553-572X&rft.isbn=9781424446483&rft.isbn_list=1424446481&rft_id=info:doi/10.1109/IECON.2009.5415419&rft_dat=%3Cieee_6IE%3E5415419%3C/ieee_6IE%3E%3Curl%3E%3C/url%3E&rft.eisbn=9781424446506&rft.eisbn_list=9781424446490&rft.eisbn_list=1424446503&rft.eisbn_list=142444649X&disable_directlink=true&sfx.directlink=off&sfx.report_link=0&rft_id=info:oai/&rft_id=info:pmid/&rft_ieee_id=5415419&rfr_iscdi=true |