Tactile-based object center of mass exploration and discrimination

  title={Tactile-based object center of mass exploration and discrimination},
  author={Kunpeng Yao and Mohsen Kaboli and Gordon Cheng},
  journal={2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)},
In robotic tasks, object recognition and discrimination can be realized according to their physical properties, such as color, shape, stiffness, and surface textures. However, these external properties may fail if they are similar or even identical. In this case, internal properties of the objects can be considered, for example, the center of mass. Center of mass is an important inherent physical property of objects; however, due to the difficulties in its determination, it has never been… CONTINUE READING


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