相关论文: Object recognition for robotics from tactile time …

This paper introduces a novel method to fine-tune handwriting recognition systems based on Recurrent Neural Networks (RNN). Long Short-Term Memory (LSTM) networks are good at modeling long sequences but they tend to overfit over time. To…

Humans make extensive use of vision and touch as complementary senses, with vision providing global information about the scene and touch measuring local information during manipulation without suffering from occlusions. While prior work…

This work contributes an event-driven visual-tactile perception system, comprising a novel biologically-inspired tactile sensor and multi-modal spike-based learning. Our neuromorphic fingertip tactile sensor, NeuTouch, scales well with the…

Reliably planning fingertip grasps for multi-fingered hands lies as a key challenge for many tasks including tool use, insertion, and dexterous in-hand manipulation. This task becomes even more difficult when the robot lacks an accurate…

Terrain classification is a critical component of any autonomous mobile robot system operating in unknown real-world environments. Over the years, several proprioceptive terrain classification techniques have been introduced to increase…

Tactile sensing has been used for a variety of robotic exploration and manipulation tasks but a common constraint is a requirement for a large amount of training data. This paper addresses the issue of data-efficiency by proposing a novel…

Robotic tactile sensing provides a method of recognizing objects and their properties where vision fails. Prior work on tactile perception in robotic manipulation has frequently focused on exploratory procedures (EPs). However, the…

Tactile sensing represents a crucial technique that can enhance the performance of robotic manipulators in various tasks. This work presents a novel bioinspired neuromorphic vision-based tactile sensor that uses an event-based camera to…

Object detection and data association are critical components in multi-object tracking (MOT) systems. Despite the fact that the two components are dependent on each other, prior works often design detection and data association modules…

Accurate prediction of vehicle trajectories is vital for advanced driver assistance systems and autonomous vehicles. Existing methods mainly rely on generic trajectory predictions derived from large datasets, overlooking the personalized…

Tactile data and kinesthetic cues are two important sensing sources in robot object recognition and are complementary to each other. In this paper, we propose a novel algorithm named Iterative Closest Labeled Point (iCLAP) to recognize…

Graph convolutional networks (GCNs) can effectively capture the features of related nodes and improve the performance of the model. More attention is paid to employing GCN in Skeleton-Based action recognition. But existing methods based on…

Tendon-based underactuated hands are intended to be simple, compliant and affordable. Often, they are 3D printed and do not include tactile sensors. Hence, performing in-hand object recognition with direct touch sensing is not feasible.…

Convolutional neural networks (CNNs) have been successfully employed in recent years for the detection of radiological abnormalities in medical images such as plain x-rays. To date, most studies use CNNs on individual examinations in…

In this paper, we investigate hand gesture classifiers that rely upon the abstracted 'skeletal' data recorded using the RGB-Depth sensor. We focus on 'skeletal' data represented by the body joint coordinates, from the Praxis dataset. The…

Slip detection plays a vital role in robotic manipulation and it has long been a challenging problem in the robotic community. In this paper, we propose a new method based on deep neural network (DNN) to detect slip. The training data is…

Over the last few decades, Smartphone technology has seen significant improvements. Enhancements specific to built-in Inertial Measurement Units (IMUs) and other dedicated sensors of the smartphones(which are often available as default)…

The potential of large tactile arrays to improve robot perception for safe operation in human-dominated environments and of high-resolution tactile arrays to enable human-level dexterous manipulation is well accepted. However, the increase…

Optical motion capture systems have become a widely used technology in various fields, such as augmented reality, robotics, movie production, etc. Such systems use a large number of cameras to triangulate the position of optical markers.The…

We utilize the dynamics involved in the imaging of a fingerprint on a touch-based fingerprint reader, such as perspiration, changes in skin color (blanching), and skin distortion, to differentiate real fingers from spoof (fake) fingers.…