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Conference Paper: Data correlation approach for slippage detection in robotic manipulations using tactile sensor array

TitleData correlation approach for slippage detection in robotic manipulations using tactile sensor array
Authors
KeywordsArrays
Correlation
Force
Grippers
Tactile sensors
Yttrium
Issue Date2015
PublisherInstitute of Electrical and Electronics Engineers. The Journal's web site is located at http://ieeexplore.ieee.org/xpl/conhome.jsp?punumber=1000393
Citation
The 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015), Hamburg, Germany, 28 September-2 October 2015. In Conference Proceedings, 2015, p. 2717-2722 How to Cite?
AbstractIn this paper, two techniques have been presented for slippage detection. They are independent of sensor signal type and are promising for general use on tactile array sensors. The first method is based on frequency analysis of the correlation coefficient sequence of sensor array data sampled as time evolves. The main idea is that a slippage causes heavier fluctuation in the sensor signal distribution and values than a static case. The second approach employs 2-D cross correlation to detect displacements of the sliding object from tactile images, which makes it possible to estimate the slippage velocity using commercially available sensors rather than custom hardware. Experiments have been implemented to evaluate the proposed approaches. It can be seen that the first method is capable of detecting both translational and rotational slippage. Also, it works well in dynamic environments. Additionally, the ability of the second method to detect slippage velocity has been confirmed in the experiment. © 2015 IEEE.
Persistent Identifierhttp://hdl.handle.net/10722/235011
ISBN
ISSN

 

DC FieldValueLanguage
dc.contributor.authorCheng, Y-
dc.contributor.authorSu, C-
dc.contributor.authorJia, Y-
dc.contributor.authorXi, N-
dc.date.accessioned2016-10-14T13:50:42Z-
dc.date.available2016-10-14T13:50:42Z-
dc.date.issued2015-
dc.identifier.citationThe 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015), Hamburg, Germany, 28 September-2 October 2015. In Conference Proceedings, 2015, p. 2717-2722-
dc.identifier.isbn978-147999994-1-
dc.identifier.issn2153-0858-
dc.identifier.urihttp://hdl.handle.net/10722/235011-
dc.description.abstractIn this paper, two techniques have been presented for slippage detection. They are independent of sensor signal type and are promising for general use on tactile array sensors. The first method is based on frequency analysis of the correlation coefficient sequence of sensor array data sampled as time evolves. The main idea is that a slippage causes heavier fluctuation in the sensor signal distribution and values than a static case. The second approach employs 2-D cross correlation to detect displacements of the sliding object from tactile images, which makes it possible to estimate the slippage velocity using commercially available sensors rather than custom hardware. Experiments have been implemented to evaluate the proposed approaches. It can be seen that the first method is capable of detecting both translational and rotational slippage. Also, it works well in dynamic environments. Additionally, the ability of the second method to detect slippage velocity has been confirmed in the experiment. © 2015 IEEE.-
dc.languageeng-
dc.publisherInstitute of Electrical and Electronics Engineers. The Journal's web site is located at http://ieeexplore.ieee.org/xpl/conhome.jsp?punumber=1000393-
dc.relation.ispartofIEEE International Conference on Intelligent Robots and Systems Proceedings-
dc.rightsIEEE International Conference on Intelligent Robots and Systems Proceedings. Copyright © Institute of Electrical and Electronics Engineers.-
dc.rights©2015 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.-
dc.subjectArrays-
dc.subjectCorrelation-
dc.subjectForce-
dc.subjectGrippers-
dc.subjectTactile sensors-
dc.subjectYttrium-
dc.titleData correlation approach for slippage detection in robotic manipulations using tactile sensor array-
dc.typeConference_Paper-
dc.identifier.emailXi, N: xining@hku.hk-
dc.identifier.authorityXi, N=rp02044-
dc.description.natureLink_to_subscribed_fulltext-
dc.identifier.doi10.1109/IROS.2015.7353749-
dc.identifier.scopuseid_2-s2.0-84958160425-
dc.identifier.hkuros269343-
dc.identifier.spage2717-
dc.identifier.epage2722-
dc.publisher.placeUnited States-
dc.customcontrol.immutablesml 161019-

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