A Review of Tactile Information: Perception and Action Through Touch

Li Q, Kroemer O, Su Z, Veiga FF, Kaboli M, Ritter H (2020)
IEEE Transactions on Robotics 36(6): 1619-1634.

Zeitschriftenaufsatz | Veröffentlicht | Englisch
 
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Autor*in
Li, QiangUniBi ; Kroemer, Oliver; Su, Zhe; Veiga, Filipe Fernandes; Kaboli, Mohsen; Ritter, HelgeUniBi
Abstract / Bemerkung
Tactile sensing is a key sensor modality for robots interacting with their surroundings. These sensors provide a rich and diverse set of data signals that contain detailed information collected from contacts between the robot and its environment. The data are however not limited to individual contacts and can be used to extract a wide range of information about the objects in the environment as well as the actions of the robot during the interactions. In this article, we provide an overview of tactile information and its applications in robotics. We present a hierarchy consisting of raw, contact, object, and action levels to structure the tactile information, with higher-level information often building upon lower-level information. We discuss different types of information that can be extracted at each level of the hierarchy. The article also includes an overview of different types of robot applications and the types of tactile information that they employ. Finally we end the article with a discussion for future tactile applications which are still beyond the current capabilities of robots.
Stichworte
Tactile sensors; Force; Vibrations; Data mining; Grasping; human–; robot interaction (HRI); in-hand manipulation; interactive perception; locomotion; nonprehensile manipulation; tactile exploration; tactile; sensing; tool manipulation; whole body manipulation
Erscheinungsjahr
2020
Zeitschriftentitel
IEEE Transactions on Robotics
Band
36
Ausgabe
6
Seite(n)
1619-1634
ISSN
1552-3098
eISSN
1941-0468
Page URI
https://pub.uni-bielefeld.de/record/2950233

Zitieren

Li Q, Kroemer O, Su Z, Veiga FF, Kaboli M, Ritter H. A Review of Tactile Information: Perception and Action Through Touch. IEEE Transactions on Robotics. 2020;36(6):1619-1634.
Li, Q., Kroemer, O., Su, Z., Veiga, F. F., Kaboli, M., & Ritter, H. (2020). A Review of Tactile Information: Perception and Action Through Touch. IEEE Transactions on Robotics, 36(6), 1619-1634. https://doi.org/10.1109/TRO.2020.3003230
Li, Q., Kroemer, O., Su, Z., Veiga, F. F., Kaboli, M., and Ritter, H. (2020). A Review of Tactile Information: Perception and Action Through Touch. IEEE Transactions on Robotics 36, 1619-1634.
Li, Q., et al., 2020. A Review of Tactile Information: Perception and Action Through Touch. IEEE Transactions on Robotics, 36(6), p 1619-1634.
Q. Li, et al., “A Review of Tactile Information: Perception and Action Through Touch”, IEEE Transactions on Robotics, vol. 36, 2020, pp. 1619-1634.
Li, Q., Kroemer, O., Su, Z., Veiga, F.F., Kaboli, M., Ritter, H.: A Review of Tactile Information: Perception and Action Through Touch. IEEE Transactions on Robotics. 36, 1619-1634 (2020).
Li, Qiang, Kroemer, Oliver, Su, Zhe, Veiga, Filipe Fernandes, Kaboli, Mohsen, and Ritter, Helge. “A Review of Tactile Information: Perception and Action Through Touch”. IEEE Transactions on Robotics 36.6 (2020): 1619-1634.
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2021-02-20T20:34:54Z
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