Deformable Object Recognition Using Proprioceptive and Exteroceptive Tactile Sensing

Ayan Mazhitov, Adilzhan Adilkhanov, Yerkebulan Massalim, Zhanat Kappassov, Huseyin Atakan Varol

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish
Title of host publicationProceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages734-739
Number of pages6
ISBN (Electronic)9781538636152
DOIs
Publication statusPublished - Apr 25 2019
Event2019 IEEE/SICE International Symposium on System Integration, SII 2019 - Paris, France
Duration: Jan 14 2019Jan 16 2019

Publication series

NameProceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019

Conference

Conference2019 IEEE/SICE International Symposium on System Integration, SII 2019
CountryFrance
CityParis
Period1/14/191/16/19

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ASJC Scopus subject areas

  • Atomic and Molecular Physics, and Optics
  • Electrical and Electronic Engineering

Cite this

Mazhitov, A., Adilkhanov, A., Massalim, Y., Kappassov, Z., & Varol, H. A. (2019). Deformable Object Recognition Using Proprioceptive and Exteroceptive Tactile Sensing. In Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019 (pp. 734-739). [8700392] (Proceedings of the 2019 IEEE/SICE International Symposium on System Integration, SII 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SII.2019.8700392