Title :
A neural network for tactile sensing: the Hertzian contact problem
Author :
Worth, A.J. ; Spencer, R.R.
Author_Institution :
Dept. of Electr. Eng. & Comput. Sci., California Univ., Davis, CA, USA
Abstract :
A neural network has been developed for use with local closed-loop gripper control using a tactile sensor array. The specific task considered is to solve part of the inverse Hertzian contact problem. Backpropagation is used to train a single hidden-layer network to recognize the angle of contact between a cylindrical finger with an embedded sensor array and a cylindrical rod. Simulation results are presented and discussed.<>
Keywords :
closed loop systems; learning systems; neural nets; robots; tactile sensors; Hertzian contact problem; back propagation; cylindrical finger; cylindrical rod; embedded sensor array; hidden-layer network; local closed-loop gripper control; neural network; tactile sensing; Closed loop systems; Learning systems; Neural networks; Robots; Tactile sensors;
Conference_Titel :
Neural Networks, 1989. IJCNN., International Joint Conference on
Conference_Location :
Washington, DC, USA
DOI :
10.1109/IJCNN.1989.118590
