Non-Matrix Tactile Sensors: How Can Be Exploited Their Local Connectivity For Predicting Grasp Stability?
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Campo DC | Valor | Idioma |
---|---|---|
dc.contributor | Automática, Robótica y Visión Artificial | es_ES |
dc.contributor.author | Zapata-Impata, Brayan S. | - |
dc.contributor.author | Gil, Pablo | - |
dc.contributor.author | Torres, Fernando | - |
dc.contributor.other | Universidad de Alicante. Departamento de Física, Ingeniería de Sistemas y Teoría de la Señal | es_ES |
dc.contributor.other | Universidad de Alicante. Instituto Universitario de Investigación Informática | es_ES |
dc.date.accessioned | 2019-04-03T08:44:45Z | - |
dc.date.available | 2019-04-03T08:44:45Z | - |
dc.date.issued | 2018-10-01 | - |
dc.identifier.uri | http://hdl.handle.net/10045/90591 | - |
dc.description.abstract | Tactile sensors supply useful information during the interaction with an object that can be used for assessing the stability of a grasp. Most of the previous works on this topic processed tactile readings as signals by calculating hand-picked features. Some of them have processed these readings as images calculating characteristics on matrix-like sensors. In this work, we explore how non-matrix sensors (sensors with taxels not arranged exactly in a matrix) can be processed as tactile images as well. In addition, we prove that they can be used for predicting grasp stability by training a Convolutional Neural Network (CNN) with them. We captured over 2500 real three-fingered grasps on 41 everyday objects to train a CNN that exploited the local connectivity inherent on the non-matrix tactile sensors, achieving 94.2% F1-score on predicting stability. | es_ES |
dc.language | eng | es_ES |
dc.rights | © The authors | es_ES |
dc.subject | Tactile detection | es_ES |
dc.subject | Tactile sensing | es_ES |
dc.subject | Robotic grasping | es_ES |
dc.subject | Predicting grasp stability | es_ES |
dc.subject | Tactile image | es_ES |
dc.subject | Artificial Intelligence | es_ES |
dc.subject | CNN | es_ES |
dc.subject.other | Ingeniería de Sistemas y Automática | es_ES |
dc.title | Non-Matrix Tactile Sensors: How Can Be Exploited Their Local Connectivity For Predicting Grasp Stability? | es_ES |
dc.type | info:eu-repo/semantics/conferenceObject | es_ES |
dc.peerreviewed | no | es_ES |
dc.relation.publisherversion | https://arxiv.org/abs/1809.05551 | es_ES |
dc.rights.accessRights | info:eu-repo/semantics/openAccess | es_ES |
Aparece en las colecciones: | INV - AUROVA - Comunicaciones a Congresos Internacionales |
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1809.05551.pdf | Articulo principal | 5,08 MB | Adobe PDF | Abrir Vista previa |
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