Intelligent Learning for Deformable Object Manipulation
Autonomous Robots
Design of the 100G Capturing Robot Based on Dynamic Preshaping
International Journal of Robotics Research
Robotic Grasping of Novel Objects using Vision
International Journal of Robotics Research
Vision-tactile-force integration and robot physical interaction
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Tactile sensing for an anthropomorphic robotic hand: hardware and signal processing
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Object identification with tactile sensors using bag-of-features
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
An Active Vision System for Detecting, Fixating and Manipulating Objects in the Real World
International Journal of Robotics Research
Learning grasping points with shape context
Robotics and Autonomous Systems
A strategy for grasping unknown objects based on co-planarity and colour information
Robotics and Autonomous Systems
Design of a finger-tip flexible tactile sensor for an anthropomorphic robot hand
ICIRA'10 Proceedings of the Third international conference on Intelligent robotics and applications - Volume Part I
Majority Voting: Material Classification by Tactile Sensing Using Surface Texture
IEEE Transactions on Robotics
Guest Editorial Special Issue on Robotic Sense of Touch
IEEE Transactions on Robotics
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For both humans and robots, tactile sensing is important for interaction with the environment: it is the core sensing used for exploration and manipulation of objects. In this paper, we present a novel tactile-array sensor based on flexible piezoresistive rubber. We describe the design of the sensor and data acquisition system. We evaluate the sensitivity and robustness of the sensor, and show that it is consistent over time with little relaxation. Furthermore, the sensor has the benefit of being flexible, having a high resolution, it is easy to mount, and simple to manufacture. We demonstrate the use of the sensor in an active object-classification system. A robotic gripper with two sensors mounted on its fingers performs a palpation procedure on a set of objects. By squeezing an object, the robot actively explores the material properties, and the system acquires tactile information corresponding to the resulting pressure. Based on a k nearest neighbor classifier and using dynamic time warping to calculate the distance between different time series, the system is able to successfully classify objects. Our sensor demonstrates similar classification performance to the Weiss Robotics tactile sensor, while having additional benefits.