書誌事項
- タイトル別名
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- Study on Simultaneous Classification of Object Properties by Using Soft Tactile Sensor Array System Utilizing Local Spatial-temporal Information of Contact
抄録
This paper deals with simultaneous classification of shape, size, and softness of cylindrical objects by using soft tactile sensor array system of a five-links single robotic finger. The front surface of each link is covered with semicircular silicone rubber equipped with 235 small on-off switches. The on-off data from these switches obtained during grasping an object is transformed into a spatial-temporal matrix form. As 8 cells around the contact switch is considered useful to extract the local spatial-temporal character of contact physics, the frequency of the 8 cells patterns composed of 0-1 data around the switch contacted is obtained for each object and then used to form a contact-feature vector. This vector is obtained 10 times of experimental trial, corresponding to each object. The vectors are classified by Mahalanobis distance for 27 objects (3 shapes, 3 sizes and 3 kinds of softness) resulting in 48 grasping postures. By using the most effective 7 kinds of 8-cells patterns, over 95% classification accuracy is obtained.
収録刊行物
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- 日本機械学会論文集C編
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日本機械学会論文集C編 72 (721), 2964-2971, 2006
一般社団法人 日本機械学会
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キーワード
詳細情報 詳細情報について
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- CRID
- 1390282681365025920
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- NII論文ID
- 130004236170
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- ISSN
- 18848354
- 03875024
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可