Robotic Perception of Material

  title={Robotic Perception of Material},
  author={Eric Krotkov},
In this paper, we develop a conceptual framework in which acts of manipulation are undertaken for the sake of perceiving material. Within this framework, we disambiguate different materials by actively contacting and probing them, and by sensing the resulting forces, displacements, and sounds. We report experimental results from four separate implementations of this framework using a variety of sensory modalities, including force, vision, and audition. For each implementation, we identify… CONTINUE READING