Title :
Computational intelligence and mechatronics solutions for robotic tactile object recognition
Author :
Cretu, Ana-Maria ; de Oliveira, Thiago Eustaquio Alves ; Prado da Fonseca, Vinicius ; Tawbe, Bilal ; Petriu, Emil M. ; Groza, Voicu Z.
Author_Institution :
Univ. du Quebec en Outaouais, Gatineau, QC, Canada
Abstract :
The paper discusses signal processing and mechatronics solutions for tactile object recognition using robotic hands. The two important aspects analyzed are the recognition of objects from tactile displacement profiles obtained by force sensing transducers and the recognition of textures using a rubbing motion executed by a robotic finger equipped with a dynamic tactile fingertip. Neural network solutions are used as an intelligent approach to recognize symbols, such as embossed numbers and letters, as well as for the recognition of different texture profiles. The conception issues, the challenges as well as the experimental results obtained are discussed from both a biological and a technological perspective.
Keywords :
mechatronics; neurocontrollers; object recognition; robot vision; tactile sensors; biological perspective; computational intelligence; conception issues; dynamic tactile fingertip; embossed letters; embossed numbers; force sensing transducers; intelligent approach; mechatronics solutions; neural-network solutions; robotic finger; robotic hands; robotic tactile object recognition; rubbing motion; signal processing; tactile displacement profiles; technological perspective; texture profiles; textures recognition; Arrays; Fingers; Shape; Tactile sensors; haptic perception; image processing; mechatronics; model-based recognition; neural networks; principal component analysis; robot hand; tactile sensor;
Conference_Titel :
Intelligent Signal Processing (WISP), 2015 IEEE 9th International Symposium on
Conference_Location :
Siena
DOI :
10.1109/WISP.2015.7139165
