Identifying Relevant Tactile Features for Object Identification

Schöpfer M, Pardowitz M, Haschke R, Ritter H (2012)
In: Towards Service Robots for Everyday Environments. Recent Advances In Designing Service Robots For Complex Tasks In Everyday Environments. Prassler E, Bischoff R, Burgard W, Haschke R, Hägele M, Lawitzky G, Nebel B, Plöger P, Reiser U, Zönner M (Eds); Springer Tracts in Advanced Robotics, 76. Berlin: Springer: 417-430.

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Prassler, Erwin ; Bischoff, Rainer ; Burgard, Wolfram ; Haschke, Robert ; Hägele, Martin ; Lawitzky, Gisbert ; Nebel, Bernhard ; Plöger, Paul ; Reiser, Ulrich ; Zönner, Marius
Abstract
Tactile sensing arrays for robotic applications become more and more popular these days. This allows us to equip robots with sensing abilities similar to those of our human skin. This article presents an approach to tactile-based recognition of objects and evaluates the utility of various feature extractors for tactile processing. Extracting these features from a tactile database, we describe a system that combines a discretization step with the well-known C4.5 algorithm in an object classification task. We analyze the usefulness of the features in terms of entropy-based considerations, taking into account the generated decision trees and report our results that give important hints for feature selection.
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Schöpfer M, Pardowitz M, Haschke R, Ritter H. Identifying Relevant Tactile Features for Object Identification. In: Prassler E, Bischoff R, Burgard W, et al., eds. Towards Service Robots for Everyday Environments. Recent Advances In Designing Service Robots For Complex Tasks In Everyday Environments. Springer Tracts in Advanced Robotics. Vol 76. Berlin: Springer; 2012: 417-430.
Schöpfer, M., Pardowitz, M., Haschke, R., & Ritter, H. (2012). Identifying Relevant Tactile Features for Object Identification. In E. Prassler, R. Bischoff, W. Burgard, R. Haschke, M. Hägele, G. Lawitzky, B. Nebel, et al. (Eds.), Springer Tracts in Advanced Robotics: Vol. 76. Towards Service Robots for Everyday Environments. Recent Advances In Designing Service Robots For Complex Tasks In Everyday Environments (pp. 417-430). Berlin: Springer.
Schöpfer, M., Pardowitz, M., Haschke, R., and Ritter, H. (2012). “Identifying Relevant Tactile Features for Object Identification” in Towards Service Robots for Everyday Environments. Recent Advances In Designing Service Robots For Complex Tasks In Everyday Environments, ed. E. Prassler, R. Bischoff, W. Burgard, R. Haschke, M. Hägele, G. Lawitzky, B. Nebel, P. Plöger, U. Reiser, M. Zönner, et al. Springer Tracts in Advanced Robotics, vol. 76, (Berlin: Springer), 417-430.
Schöpfer, M., et al., 2012. Identifying Relevant Tactile Features for Object Identification. In E. Prassler, et al., eds. Towards Service Robots for Everyday Environments. Recent Advances In Designing Service Robots For Complex Tasks In Everyday Environments. Springer Tracts in Advanced Robotics. no.76 Berlin: Springer, pp. 417-430.
M. Schöpfer, et al., “Identifying Relevant Tactile Features for Object Identification”, Towards Service Robots for Everyday Environments. Recent Advances In Designing Service Robots For Complex Tasks In Everyday Environments, E. Prassler, et al., eds., Springer Tracts in Advanced Robotics, vol. 76, Berlin: Springer, 2012, pp.417-430.
Schöpfer, M., Pardowitz, M., Haschke, R., Ritter, H.: Identifying Relevant Tactile Features for Object Identification. In: Prassler, E., Bischoff, R., Burgard, W., Haschke, R., Hägele, M., Lawitzky, G., Nebel, B., Plöger, P., Reiser, U., and Zönner, M. (eds.) Towards Service Robots for Everyday Environments. Recent Advances In Designing Service Robots For Complex Tasks In Everyday Environments. Springer Tracts in Advanced Robotics. 76, p. 417-430. Springer, Berlin (2012).
Schöpfer, Matthias, Pardowitz, Michael, Haschke, Robert, and Ritter, Helge. “Identifying Relevant Tactile Features for Object Identification”. Towards Service Robots for Everyday Environments. Recent Advances In Designing Service Robots For Complex Tasks In Everyday Environments. Ed. Erwin Prassler, Rainer Bischoff, Wolfram Burgard, Robert Haschke, Martin Hägele, Gisbert Lawitzky, Bernhard Nebel, Paul Plöger, Ulrich Reiser, and Marius Zönner. Berlin: Springer, 2012.Vol. 76. Springer Tracts in Advanced Robotics. 417-430.
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