Paper Info
Title
3d Tactile Sensor Array Processed By Cnn-Um: A Fast Method For Detecting And Identifying Slippage And Twisting Motion
Abstract
In this paper, we present a fast and efficient technique for detecting and identifying the slippage and twisting motion of touching objects. This kind of action cannot be detected with tactile sensors sensing only the normal (perpendicular) component of the forces acting between surfaces. Our approach utilizes an integrated sensing-processing-actuating system comprising: (1) A 2 x 2 taxel (tactile pixel) array mounted on a two-fingered robot hand, (2) a 64 x 64 CNN-UM (Cellular Neural Network-Universal machine), and (3) a closed-loop controller. This arrangement, along with the proper analogic algorithm, allows detection and the control of the tactile event. It is essential to know and comprehend the forces between contact surfaces and the related 3D pressure fields is essential in many robotic applications discussed in the paper. Copyright (C) 2006 John Wiley & Sons, Ltd.
Year
DOI
Venue
2006
10.1002/cta.364
INTERNATIONAL JOURNAL OF CIRCUIT THEORY AND APPLICATIONS
Keywords
Field
DocType
CNN universal machine, analogic algorithms, sensing-processing-actuating system, autonomous robots, 3D tactile sensor array, pressure map
Computer vision,Control theory,Perpendicular,Sensor array,Contact mechanics,Electronic engineering,Slippage,Pixel,Artificial intelligence,Mathematics,Robotics,Tactile sensor
Journal
Volume
Issue
ISSN
34
4
0098-9886
Citations 
PageRank 
References 
8
1.55
6
Authors
3
Name
Order
Citations
PageRank
Attila Kis181.55
Ferenc Kovács2458.27
Péter Szolgay39319.29