Haptic Perception of Unknown Object by Robot Hand: Exploration Strategy and Recognition Approach

• DOI: 10.1142/s0219843616500080
• Publication Date: 2016-04-28T04:51:46Z
• Authors: Haiwei Gu; Shaowei Fan; Hua Zong; Minghe Jin; Hong Liu
• Keywords: Tactile sensor; Haptic perception; Tactile Perception

In this paper, the exploration and recognition in unknown object perception by robot hand is discussed. Inspired touch of human hand, a haptic strategy for multi-fingered proposed. Based on observations from experiments, proposed can be used to guide plan series movements get tactile information different objects, with precondition avoiding unexpected collisions objects. A approach then presented recognize shapes based point data collected strategy. Geometric feature vectors are extracted locations normal after clustering, recognized random forests classifier. Simulations experiments results show that gather automatically, effective robust shape work. This framework provides sensible solution problem, which suitable low-resolution sensors.