Barometer-based Tactile Skin for Anthropomorphic Robot Hand

Kõiva R, Schwank T, Walck G, Meier M, Haschke R, Ritter H (2020)
Presented at the International Conference on Intelligent Robots and Systems (IROS), Las Vegas, NV, USA.

Konferenzbeitrag | Veröffentlicht | Englisch
 
Download
OA 8.63 MB
Abstract / Bemerkung
We present our second generation tactile sensor for the Shadow Dexterous Hand's palm. We were able to significantly improve the tactile sensor characteristics by utilizing our latest barometer-based tactile sensing technology with linear (R² ≥ 0.9996) sensor output and no noticeable hysteresis. The sensitivity threshold of the tactile cells and the spatial density were both dramatically increased. We demonstrate the benefits of the new sensor by re-running an experiment to estimate the stiffness of different objects that we originally used to test our first generation palm sensor. The results underline a considerable performance boost in estimation accuracy, just due to the improved tactile skin. We also propose a revised neural network architecture that even further improves the average classification accuracy to 96% in a 5-fold cross-validation.
Stichworte
Force and Tactile Sensing; In-Hand Manipulation; Object Detection; Segmentation and Categorization
Erscheinungsjahr
2020
Konferenz
International Conference on Intelligent Robots and Systems (IROS)
Konferenzort
Las Vegas, NV, USA
Konferenzdatum
2020-10-25 – 2020-10-29
Page URI
https://pub.uni-bielefeld.de/record/2944814

Zitieren

Kõiva R, Schwank T, Walck G, Meier M, Haschke R, Ritter H. Barometer-based Tactile Skin for Anthropomorphic Robot Hand. Presented at the International Conference on Intelligent Robots and Systems (IROS), Las Vegas, NV, USA.
Kõiva, R., Schwank, T., Walck, G., Meier, M., Haschke, R., & Ritter, H. (2020). Barometer-based Tactile Skin for Anthropomorphic Robot Hand. Presented at the International Conference on Intelligent Robots and Systems (IROS), Las Vegas, NV, USA.
Kõiva, R., Schwank, T., Walck, G., Meier, M., Haschke, R., and Ritter, H. (2020).“Barometer-based Tactile Skin for Anthropomorphic Robot Hand”. Presented at the International Conference on Intelligent Robots and Systems (IROS), Las Vegas, NV, USA.
Kõiva, R., et al., 2020. Barometer-based Tactile Skin for Anthropomorphic Robot Hand. Presented at the International Conference on Intelligent Robots and Systems (IROS), Las Vegas, NV, USA.
R. Kõiva, et al., “Barometer-based Tactile Skin for Anthropomorphic Robot Hand”, Presented at the International Conference on Intelligent Robots and Systems (IROS), Las Vegas, NV, USA, 2020.
Kõiva, R., Schwank, T., Walck, G., Meier, M., Haschke, R., Ritter, H.: Barometer-based Tactile Skin for Anthropomorphic Robot Hand. Presented at the International Conference on Intelligent Robots and Systems (IROS), Las Vegas, NV, USA (2020).
Kõiva, Risto, Schwank, Tobias, Walck, Guillaume, Meier, Martin, Haschke, Robert, and Ritter, Helge. “Barometer-based Tactile Skin for Anthropomorphic Robot Hand”. Presented at the International Conference on Intelligent Robots and Systems (IROS), Las Vegas, NV, USA, 2020.
Alle Dateien verfügbar unter der/den folgenden Lizenz(en):
Creative Commons Namensnennung - Nicht kommerziell - Keine Bearbeitungen 4.0 International (CC BY-NC-ND 4.0):
Volltext(e)
Access Level
OA Open Access
Zuletzt Hochgeladen
2020-11-03T12:09:26Z
MD5 Prüfsumme
65a0a6ab4965c9ce4d1c7bb26410ac6a

Export

Markieren/ Markierung löschen
Markierte Publikationen

Open Data PUB

Suchen in

Google Scholar