TY - GEN
T1 - Deformable Object Recognition Using Proprioceptive and Exteroceptive Tactile Sensing
AU - Mazhitov, Ayan
AU - Adilkhanov, Adilzhan
AU - Massalim, Yerkebulan
AU - Kappassov, Zhanat
AU - Varol, Huseyin Atakan
N1 - Funding Information:
This work was partially supported by the Ministry of Education and Science of the Republic of Kazakhstan grant “Methods for Safe Human Robot Interaction with Variable Impedance Actuated Robots” and Nazarbayev University internal grant “Robotic Artificial Tactile Perception”.
Publisher Copyright:
© 2019 IEEE.
PY - 2019/4/25
Y1 - 2019/4/25
N2 - The somatosensory sense is a combination of several perception systems. It plays an important role in the exploration and recognition of the environment. In this work, we show how proprioceptive (internal) and exteroceptive (external) sensing can help to distinguish deformable and rigid objects. First, we describe our planar robot arm, which serves as the experimental testbed for the integration of internal and external sensors. The internal sensing system consists of the motor current sensors and the joint encoders of the planar robot arm. The external sensing system is a pressure sensing tactile array with five sensors. We use Robot Operating System (ROS) in order to integrate these systems and control our planar robot. We also present our pipeline for recognition of object deformability based on these sensor measurements. The performance of our approach is demonstrated using a set of experiments in which we distinguish soft and rigid of objects of different sizes.
AB - The somatosensory sense is a combination of several perception systems. It plays an important role in the exploration and recognition of the environment. In this work, we show how proprioceptive (internal) and exteroceptive (external) sensing can help to distinguish deformable and rigid objects. First, we describe our planar robot arm, which serves as the experimental testbed for the integration of internal and external sensors. The internal sensing system consists of the motor current sensors and the joint encoders of the planar robot arm. The external sensing system is a pressure sensing tactile array with five sensors. We use Robot Operating System (ROS) in order to integrate these systems and control our planar robot. We also present our pipeline for recognition of object deformability based on these sensor measurements. The performance of our approach is demonstrated using a set of experiments in which we distinguish soft and rigid of objects of different sizes.
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U2 - 10.1109/SII.2019.8700392
DO - 10.1109/SII.2019.8700392
M3 - Conference contribution
AN - SCOPUS:85065650200
T3 - Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019
SP - 734
EP - 739
BT - Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 IEEE/SICE International Symposium on System Integration, SII 2019
Y2 - 14 January 2019 through 16 January 2019
ER -