Performance improvement of material recognition sensor using cubic spline interpolation

This paper describes a noble robot sensor designed to recognize an unknown material by measuring thermal conductivity on various ambient temperature. An active sensor to measure the thermal conductivity of a gripped object was designed and the software program to discriminate material was developed with C language. To discriminate material, it is required to make the look-up table in which temperature response of different materials on the various ambient temperature are stored. But it is impractical to store data on the all ambient temperature. Therefore using cubic spline interpolation, we can estimate the temperature response on ambient temperature condition that is not stored in the look-up table