Feature-Based Tactile Object Recognition
Feature-Based Tactile Object Recognition
Roger A. Browse
Abstract
Tactile sensing offers powerful capabilities for robotic perception. Through the use
of array-force sensors, precisely located surface information about objects in the
workspace is available wherever the robot arm may reach. In order to use this
information to identify objects and their placement, interpretation processes should
employ proprioceptive information and should use tactile image features which
reflect object characteristics. A technique is described for the generation of
constraints on object identity and placement such that information from multiple
sensor contacts may cooperate towards interpretation.