Dynamic Tactile Sensing for Object Identification

Heidemann G, Schöpfer M. Dynamic Tactile Sensing for Object Identification. In: Proc. IEEE Int'l Conf. on Robotics and Automation. New Orleans: IEEE; 2004: 813-818.We propose a neural architecture for the recognition of objects by haptics. We demonstrate its performance for a set of household objects and toys using a low cost 2D pressure sensor of coarse resolution, which is moved by a robot arm guided by contact points. The approach transfers the well known viewbased method from computer vision to the domain of tactile sensing. However, in contrast to computer vision, not static frames but entire time series of 2D pressure proles are evaluated