Robotic tactile recognition of pseudorandom encoded objects

TitleRobotic tactile recognition of pseudorandom encoded objects
Publication TypeJournal Article
Year of Publication2004
AuthorsPetriu, E. M., S. K. S. Yeung, S. R. Das, A. - M. Cretu, and H. J. W. Spoelder
JournalInstrumentation and Measurement, IEEE Transactions on
Pagination1425 - 1432
Date Publishedoct.
Keywordsarrays, blind robotic tactile recognition, geometric symbols, haptic interfaces, model-based method, neural nets, neural network, object face, object recognition, object surfaces, PRA window, pseudorandom array, pseudorandom arrays, pseudorandom encoded objects, random sequences, robots, tactile probing, tactile sensors, tactile system, three-dimensional object model

This paper discusses an original model-based method for blind robotic tactile recognition of three-dimensional objects. Conveniently shaped geometric symbols representing terms of a pseudorandom array (PRA) are embossed on object surfaces. Symbols recovered by tactile probing are recognized using a neural network and then clustered in a PRA window that contains enough information to fully identify the absolute coordinates of the recovered window within the encoding PRA. By knowing how different object models were mapped to the PRA, it is possible to unambiguously identify the object face and the exact position of the recovered symbols on the face.


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