Title :
Point of Contact Location and Normal Force Estimation Using Biomimetical Tactile Sensors
Author :
Ciobanu, Vlad ; Popescu, Dan ; Petrescu, Alexandru
Author_Institution :
Fac. of Autom. Control & Comput. Sci., Univ. Politeh. of Bucharest, Bucharest, Romania
Abstract :
One of the most important human capabilities is the tactile sensing that allows advanced in hand manipulation for several objects or tasks. In the robot world, object manipulation without tactile sensing is relying only on visual detection, thus introducing large error margins. This paper presents several solutions for point of contact detection and normal force estimation by using a biomimetical tactile sensor mounted on a robot hand. Even if this paper focuses on the data generated by using a specific sensor, the results and implemented methods can be applied to a wide range of tactile sensors.
Keywords :
biomimetics; estimation theory; force sensors; manipulators; tactile sensors; biomimetical tactile sensor; large error margin; normal force estimation; object manipulation; point of contact location; visual detection; Biosensors; Electrodes; Equations; Support vector machines; Tactile sensors; BioTac; Support Vector Machine Learning; contact point location; force estimation; tactile sensor;
Conference_Titel :
Complex, Intelligent and Software Intensive Systems (CISIS), 2014 Eighth International Conference on
Conference_Location :
Birmingham
Print_ISBN :
978-1-4799-4326-5
DOI :
10.1109/CISIS.2014.52
