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A Multi-modal Approach to Continuous Material Identification through Tactile Sensing

Gomez Eguiluz, Augusto, Rano, Ignacio, Coleman, SA and McGinnity, Martin (2016) A Multi-modal Approach to Continuous Material Identification through Tactile Sensing. In: IEEE/RSJ International Conference on intelligent Robots and Systems, 2016, Daejeon, Korea. IEEE. 6 pp. [Conference contribution]

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Tactile sensing has recently been used in robotics for object identification, grasping, and material recognition. Most material recognition approaches use vibration information from a tactile exploration, typically above one second long, to identify the material. This work proposes a tactile multi- modal (vibration and thermal) material identification approach based on recursive Bayesian estimation. Through the frequency response of the vibration induced by the material and thermal features, like an estimate of the thermal power loss of the finger, we show that it is possible to identify materials in less than half a second. Moreover, a comparison between the use of vibration only and multi-modal identification shows that both recognition time and classification errors are reduced by adding thermal information.

Item Type:Conference contribution (Paper)
Keywords:Robotics, Tactile Sensing, Material identification
Faculties and Schools:Faculty of Computing & Engineering
Faculty of Computing & Engineering > School of Computing and Intelligent Systems
Research Institutes and Groups:Computer Science Research Institute > Intelligent Systems Research Centre
Computer Science Research Institute
ID Code:35163
Deposited By: Dr Ignacio Rano
Deposited On:25 Jul 2016 15:12
Last Modified:17 Oct 2017 16:24

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