Object texture recognition by dynamic tactile sensing using active exploration

  title={Object texture recognition by dynamic tactile sensing using active exploration},
  author={Alin Drimus and Mikkel Borlum Petersen and Arne Bilberg},
  journal={2012 IEEE RO-MAN: The 21st IEEE International Symposium on Robot and Human Interactive Communication},
For both humans and robots, tactile sensing is important for interaction with the environment: it is the core sensing used for exploration and manipulation of objects. In this paper, we present a method for determining object texture by active exploration with a robotic fingertip equipped with a dynamic tactile transducer based on polyvinylidene fluoride (PVDF) piezoelectric film. Different test surfaces are actively explored and the signal from the sensor is used for feature extraction, which… CONTINUE READING
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