Name
Abstract | ||
|---|---|---|
We propose a shape classification method in continuous rotation manipulation by a multi-fingered robot hand. Our robot hand has five fingers equipped with tactile sensors. Each tactile sensor can measure a pressure distribution once every 10 ms while the robot hand rotates an object continuously. Our proposal classification method consists of the following processes: A kurtosis is calculated from each pressure distribution, and it quantifies the shape of the current contact surface. By rotating an object and measuring a time-series pressure distribution, the hand obtains a time-series kurtosis. An evaluated value is calculated from the time-series kurtosis and reference patterns using continuous dynamic programming (CDP) matching scheme. The contact shape is classified whether the evaluated value is lower than a given threshold. Experiments demonstrate the effectiveness of our proposal shape classification. |
Year | DOI | Venue |
|---|---|---|
2009 | 10.20965/jaciii.2009.p0178 | JOURNAL OF ADVANCED COMPUTATIONAL INTELLIGENCE AND INTELLIGENT INFORMATICS |
Keywords | Field | DocType |
shape classification, tactile sensor, multi-fingered robot hand | Computer vision,Robot hand,Computer science,Artificial intelligence,Tactile sensor | Journal |
Volume | Issue | ISSN |
13 | 3 | 1343-0130 |
Citations | PageRank | References |
1 | 0.41 | 8 |
Authors | ||
5 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Hiroyuki Nakamoto | 1 | 58 | 16.86 |
| Futoshi Kobayashi | 2 | 36 | 14.80 |
| Nobuaki Imamura | 3 | 27 | 6.92 |
| Hidenori Shirasawa | 4 | 1 | 0.41 |
| Fumio Kojima | 5 | 77 | 18.33 |