Title :
Applying a "somatic alphabet" approach to inferring orientation, motion, and direction in clusters of force sensing resistors
Author :
Stiehl, Walter Dan ; Breazeal, Cynthia
Author_Institution :
Robotic Life Group, MIT, Cambridge, MA, USA
fDate :
28 Sept.-2 Oct. 2004
Abstract :
A fully "sensitive skin" can be thought of as the ultimate goal for the application of somatic sensors. This paper describes further work in the creation of a "somatic alphabet" for humanoid robotics. Populations of individual force sensing resistors are combined into receptive fields. This paper details the algorithms used to infer direction of motion of the centroid of a stimulus as well as orientation.
Keywords :
force sensors; humanoid robots; tactile sensors; force sensing resistors; humanoid robotics; sensitive skin; somatic alphabet; somatic sensors; Animals; Cognitive robotics; Force sensors; Human robot interaction; Humanoid robots; Intracranial pressure sensors; Medical treatment; Resistors; Robot sensing systems; Temperature sensors;
Conference_Titel :
Intelligent Robots and Systems, 2004. (IROS 2004). Proceedings. 2004 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8463-6
DOI :
10.1109/IROS.2004.1389868