Tactile Convolutional Networks for Online Slip and Rotation Detection
Meier M, Patzelt F, Haschke R, Ritter H (2016)
In: Artificial Neural Networks and Machine Learning – ICANN 2016 25th International Conference on Artificial Neural Networks, Barcelona, Spain, September 6-9, 2016, Proceedings, Part II. Villa AEP, Masulli P, Pons Rivero AJ (Eds); Lecture Notes in Computer Science, 9887. Cham: Springer: 12-19.
Konferenzbeitrag
| Veröffentlicht | Englisch
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icann16_preprint.pdf
1.11 MB
Herausgeber*in
Villa, Alessandro E. P.;
Masulli, Paolo;
Pons Rivero, Antonia Javier
Einrichtung
Abstract / Bemerkung
We present a deep convolutional neural network which is capable to distinguish between different contact states in robotic manipulation tasks. By integrating spatial and temporal tactile sensor data from a piezo-resistive sensor array through deep learning techniques, the network is not only able to classify the contact state into stable versus slipping, but also to distinguish between rotational and translation slippage. We evaluated different network layouts and reached a final classification rate of more than 97 %. Using consumer class GPUs, slippage and rotation events can be detected within 10 ms, which is still feasible for adaptive grasp control.
Erscheinungsjahr
2016
Titel des Konferenzbandes
Artificial Neural Networks and Machine Learning – ICANN 2016 25th International Conference on Artificial Neural Networks, Barcelona, Spain, September 6-9, 2016, Proceedings, Part II
Serien- oder Zeitschriftentitel
Lecture Notes in Computer Science
Band
9887
Seite(n)
12-19
Urheberrecht / Lizenzen
Konferenz
ICANN 2016
Konferenzort
Barcelona
Konferenzdatum
2016-09-06 – 2016-09-09
ISBN
978-3-319-44780-3
eISBN
978-3-319-44781-0
Page URI
https://pub.uni-bielefeld.de/record/2904287
Zitieren
Meier M, Patzelt F, Haschke R, Ritter H. Tactile Convolutional Networks for Online Slip and Rotation Detection. In: Villa AEP, Masulli P, Pons Rivero AJ, eds. Artificial Neural Networks and Machine Learning – ICANN 2016 25th International Conference on Artificial Neural Networks, Barcelona, Spain, September 6-9, 2016, Proceedings, Part II. Lecture Notes in Computer Science. Vol 9887. Cham: Springer; 2016: 12-19.
Meier, M., Patzelt, F., Haschke, R., & Ritter, H. (2016). Tactile Convolutional Networks for Online Slip and Rotation Detection. In A. E. P. Villa, P. Masulli, & A. J. Pons Rivero (Eds.), Lecture Notes in Computer Science: Vol. 9887. Artificial Neural Networks and Machine Learning – ICANN 2016 25th International Conference on Artificial Neural Networks, Barcelona, Spain, September 6-9, 2016, Proceedings, Part II (pp. 12-19). Cham: Springer. https://doi.org/10.1007/978-3-319-44781-0_2
Meier, Martin, Patzelt, Florian, Haschke, Robert, and Ritter, Helge. 2016. “Tactile Convolutional Networks for Online Slip and Rotation Detection”. In Artificial Neural Networks and Machine Learning – ICANN 2016 25th International Conference on Artificial Neural Networks, Barcelona, Spain, September 6-9, 2016, Proceedings, Part II, ed. Alessandro E. P. Villa, Paolo Masulli, and Antonia Javier Pons Rivero, 9887:12-19. Lecture Notes in Computer Science. Cham: Springer.
Meier, M., Patzelt, F., Haschke, R., and Ritter, H. (2016). “Tactile Convolutional Networks for Online Slip and Rotation Detection” in Artificial Neural Networks and Machine Learning – ICANN 2016 25th International Conference on Artificial Neural Networks, Barcelona, Spain, September 6-9, 2016, Proceedings, Part II, Villa, A. E. P., Masulli, P., and Pons Rivero, A. J. eds. Lecture Notes in Computer Science, vol. 9887, (Cham: Springer), 12-19.
Meier, M., et al., 2016. Tactile Convolutional Networks for Online Slip and Rotation Detection. In A. E. P. Villa, P. Masulli, & A. J. Pons Rivero, eds. Artificial Neural Networks and Machine Learning – ICANN 2016 25th International Conference on Artificial Neural Networks, Barcelona, Spain, September 6-9, 2016, Proceedings, Part II. Lecture Notes in Computer Science. no.9887 Cham: Springer, pp. 12-19.
M. Meier, et al., “Tactile Convolutional Networks for Online Slip and Rotation Detection”, Artificial Neural Networks and Machine Learning – ICANN 2016 25th International Conference on Artificial Neural Networks, Barcelona, Spain, September 6-9, 2016, Proceedings, Part II, A.E.P. Villa, P. Masulli, and A.J. Pons Rivero, eds., Lecture Notes in Computer Science, vol. 9887, Cham: Springer, 2016, pp.12-19.
Meier, M., Patzelt, F., Haschke, R., Ritter, H.: Tactile Convolutional Networks for Online Slip and Rotation Detection. In: Villa, A.E.P., Masulli, P., and Pons Rivero, A.J. (eds.) Artificial Neural Networks and Machine Learning – ICANN 2016 25th International Conference on Artificial Neural Networks, Barcelona, Spain, September 6-9, 2016, Proceedings, Part II. Lecture Notes in Computer Science. 9887, p. 12-19. Springer, Cham (2016).
Meier, Martin, Patzelt, Florian, Haschke, Robert, and Ritter, Helge. “Tactile Convolutional Networks for Online Slip and Rotation Detection”. Artificial Neural Networks and Machine Learning – ICANN 2016 25th International Conference on Artificial Neural Networks, Barcelona, Spain, September 6-9, 2016, Proceedings, Part II. Ed. Alessandro E. P. Villa, Paolo Masulli, and Antonia Javier Pons Rivero. Cham: Springer, 2016.Vol. 9887. Lecture Notes in Computer Science. 12-19.
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2019-09-25T06:40:37Z
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04b8b4bebb5570af901373aa3350b328
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