elib
DLR-Header
DLR-Logo -> http://www.dlr.de
DLR Portal Home | Imprint | Privacy Policy | Contact | Deutsch
Fontsize: [-] Text [+]

Material Recognition with a Tactile Skin on the Fingertip of a Humanoid Robot by Learning Temporal Features

Zhi, FangYi (2014) Material Recognition with a Tactile Skin on the Fingertip of a Humanoid Robot by Learning Temporal Features. Master's. DLR-Interner Bericht. 572-2014/32.

[img] PDF - Registered users only
20MB

Abstract

Robot manipulation reaches a new level with the help of tactile sensing. Many robotic tactile sensors have been developed in the past decades. However, due to the different advantages and disadvantages of the existing robotic tactile sensors, none of them are perfectly applicable for a wide range of humanoid robot applications. In the first part of this thesis, a commercial tactile sensor fromTekscan, which was originally designed for human hands, is tested with the humanoid robot Agile Justin from DLR. Some potential robotic applications are outlined, such as slippage detection and surface exploration. The second part of the thesis focuses on the application of texture discrimination. Two feature vectors, L-Feature and H-Feature, are proposed to represent the properties of different textures. Several environmental variations are identified, which negatively affect the overall performance. Gaussian, kNN and SVM classifiers are applied to these two feature vectors and the performance is evaluated with random and leave-one-position-out cross validation respectively. The classifier trained from the H-Feature with SVM obtains the best performance with an accuracy of 0.96 without and 0.86 with environmental variations.

Item URL in elib:https://elib.dlr.de/93629/
Document Type:Monograph (DLR-Interner Bericht, Master's)
Title:Material Recognition with a Tactile Skin on the Fingertip of a Humanoid Robot by Learning Temporal Features
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Zhi, FangYichihyichihyi (at) gmail.comUNSPECIFIED
Date:2014
Refereed publication:No
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:tactile skin, material identification, machine learning
Institution:Institut fuer Robotik und Mechatronik
Department:Autonome und Fernprogrammierung
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben on Orbit Servicing
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Autonomy and Teleoperation
Deposited By: Bäuml, Berthold
Deposited On:12 Jan 2015 17:21
Last Modified:12 Jan 2015 17:21

Repository Staff Only: item control page

Browse
Search
Help & Contact
Information
electronic library is running on EPrints 3.3.12
Copyright © 2008-2017 German Aerospace Center (DLR). All rights reserved.