Histogram based classification of tactile patterns on periodically distributed skin sensors for a humanoid robot

Ji, Z., Amirabdollahian, F., Polani, D. and Dautenhahn, K. (2011) Histogram based classification of tactile patterns on periodically distributed skin sensors for a humanoid robot. In: Procs IEEE International Workshop on Robot and Human Interactive Communication : RO-MAN 2011. Institute of Electrical and Electronics Engineers (IEEE), USA, pp. 433-440. ISBN 978-1-4577-1571-6
Copy

The main target of this work is to improve human-robot interaction capabilities, by adding a new modality of sense, touch, to KASPAR, a humanoid robot. Large scale distributed skin-like sensors are designed and integrated on the robot, covering KASPAR at various locations. One of the challenges is to classify different types of touch. Unlike digital images represented by grids of pixels, the geometrical structure of the sensor array limits the capability of straightforward application of well-established approaches for image patterns. This paper introduces a novel histogram-based classification algorithm, transforming tactile data into histograms of local features termed as codebook. Tactile pattern can be invariant at periodical locations, allowing tactile pattern classification using a smaller number of training data, instead of using training data from everywhere on the large scale skin sensors. To generate the codebook, this method uses a two-layer approach, namely local neighbourhood structures and encodings of pressure distribution of the local neighbourhood. Classification is performed based on the constructed features using Support Vector Machine (SVM) with the intersection kernel. Real experimental data are used for experiment to classify different patterns and have shown promising accuracy. To evaluate the performance, it is also compared with the SVM using the Radial Basis Function (RBF) kernel and results are discussed from both aspects of accuracy and the location invariance property.

visibility_off picture_as_pdf

picture_as_pdf
R3_Amirabdollahian.pdf
subject
Published Version
lock
Restricted to Repository staff only

Request Copy

Atom BibTeX OpenURL ContextObject in Span OpenURL ContextObject Dublin Core MPEG-21 DIDL Data Cite XML EndNote HTML Citation METS MODS RIOXX2 XML Reference Manager Refer ASCII Citation
Export

Downloads