Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm

Session WedDT10 Lince Wednesday, October 10, 2012, 14:00–15:00
Tactile Exploration
Chair Shinichi Hirai, Ritsumeikan Univ.
Co-Chair
14:00–14:15 WedDT10.1
Online Spatio-Temporal Gaussian Process
Experts with Application to Tactile Classification
Harold Soh, Yanyu Su and Yiannis Demiris
Personal Robotics Laboratory,
Imperial College London, United Kingdom
• Problem: Learning and Predicting
Multivariate Time-series (e.g. sensor data).
• Proposed Solution: STORK-GP, Sparse
Online GP with novel Recursive Kernel
based on relevance detection.
• Application: Tactile classification.
• Benefits: Method creates new models
“on-the-fly” and refines existing models.
• Experiments: High Accuracy comparable
to extensively-optimised offline classifiers.
• Download STORKG-GP:
www.haroldsoh.com
Online Tactile Classifier using
STORK-GP Online Experts
14:30–14:45 WedDT10.3
3D Surface Reconstruction for Robotic Body
Parts with Artificial Skins
Philipp Mittendorfer and Gordon Cheng
Institute for Cognitive Systems, Technische Universität München, Germany
www.ics.ei.tum.de
• We only utilize a-priori knowledge given by the elemental skin unit cell
• We calculate relative positions and orientations of all unit cells in a patch
• We utilize network relationships and gravity measurements in ≥ 2 poses
• We only depend on sensor skin features ⇒ transferable between robots
14:15–14:30 WedDT10.2
Experimental Investigation of Surface
Identification Ability of a Low-Profile Fabric
Tactile Sensor
Van Anh Ho, Masaaki Makikawa and Shinichi Hirai
Department of Robotics, Ritsumeikan University, Japan
Takahiro Araki
Research and Development Department, Okamoto Corp., Japan
• Design a fabric sensor with loops on the
surface to enhance the slip detection, as
well as to capture stck-slip events during
sliding motion.
• Three methods have been employed to
evaluate recognition ability of the sensor
over several typical texture.
• Results show that ANN-based
classification using Discrete Wavelet
Transformation (DWT) of sensor’s
signal outperformed the others.
2012 IEEE/RSJ International Conference on Intelligent Robots and Systems
–159–
Sensor’s construction and DWT
signals over textures
14:45–15:00 WedDT10.4
A Novel Dynamic Slip Prediction and Compensation
Approach Based on Haptic Surface Exploration
Xiaojing Song, Hongbin Liu, Joao Bimbo, Kaspar Althoefer
and Lakmal D Seneviratne
Department of Informatics, King’s College London, UK
• Efficient haptic surface
exploration to identify friction
properties of object surfaces.
• Slip threshold is predicted
online based on identified
friction property.
• Slip compensator is
implemented to prevent
slippage during a dynamic
grasping.